id	sid	tid	token	lemma	pos
alkej-356	1	1	microsoft	microsoft	PROPN
alkej-356	1	2	word	word	NOUN
alkej-356	1	3	5563	5563	NUM
alkej-356	1	4	\310\324\307\321	\310\324\307\321	ADP
alkej-356	1	5	\335\307\312\315	\335\307\312\315	PROPN
alkej-356	1	6	\346\307\343\314\317	\346\307\343\314\317	PROPN
alkej-356	1	7	)	)	PUNCT
alkej-356	1	8	al	al	PROPN
alkej-356	1	9	-	-	PUNCT
alkej-356	1	10	khwarizmi	khwarizmi	PROPN
alkej-356	1	11	engineering	engineering	PROPN
alkej-356	1	12	journal	journal	PROPN
alkej-356	1	13	al	al	PROPN
alkej-356	1	14	-	-	PUNCT
alkej-356	1	15	khwarizmi	khwarizmi	PROPN
alkej-356	1	16	engineering	engineering	NOUN
alkej-356	1	17	journal	journal	PROPN
alkej-356	1	18	,	,	PUNCT
alkej-356	1	19	vol	vol	NOUN
alkej-356	1	20	.	.	PROPN
alkej-356	1	21	13	13	NUM
alkej-356	1	22	,	,	PUNCT
alkej-356	1	23	no	no	INTJ
alkej-356	1	24	.	.	NOUN
alkej-356	1	25	3	3	NUM
alkej-356	1	26	,	,	PUNCT
alkej-356	1	27	p.p	p.p	PROPN
alkej-356	1	28	.	.	NOUN
alkej-356	1	29	5563	5563	NUM
alkej-356	1	30	(	(	PUNCT
alkej-356	1	31	2017	2017	NUM
alkej-356	1	32	)	)	PUNCT
alkej-356	1	33	performance	performance	NOUN
alkej-356	1	34	comparison	comparison	NOUN
alkej-356	1	35	of	of	ADP
alkej-356	1	36	different	different	ADJ
alkej-356	1	37	advanced	advanced	ADJ
alkej-356	1	38	control	control	NOUN
alkej-356	1	39	schemes	scheme	NOUN
alkej-356	1	40	for	for	ADP
alkej-356	1	41	glucose	glucose	NOUN
alkej-356	1	42	level	level	NOUN
alkej-356	1	43	control	control	NOUN
alkej-356	1	44	under	under	ADP
alkej-356	1	45	disturbing	disturb	VERB
alkej-356	1	46	meal	meal	NOUN
alkej-356	1	47	bashar	bashar	PROPN
alkej-356	1	48	fateh	fateh	PROPN
alkej-356	1	49	midhat	midhat	PROPN
alkej-356	1	50	*	*	PROPN
alkej-356	1	51	amjad	amjad	PROPN
alkej-356	1	52	jaleel	jaleel	PROPN
alkej-356	1	53	humaidi	humaidi	PROPN
alkej-356	1	54	*	*	PROPN
alkej-356	1	55	*	*	PUNCT
alkej-356	1	56	*	*	PUNCT
alkej-356	1	57	,	,	PUNCT
alkej-356	1	58	*	*	PUNCT
alkej-356	1	59	*	*	NOUN
alkej-356	1	60	department	department	NOUN
alkej-356	1	61	of	of	ADP
alkej-356	1	62	control	control	NOUN
alkej-356	1	63	and	and	CCONJ
alkej-356	1	64	systems	system	NOUN
alkej-356	1	65	engineering	engineering	NOUN
alkej-356	1	66	/	/	SYM
alkej-356	1	67	university	university	NOUN
alkej-356	1	68	of	of	ADP
alkej-356	1	69	technology	technology	NOUN
alkej-356	1	70	*	*	NOUN
alkej-356	1	71	email	email	NOUN
alkej-356	1	72	:	:	PUNCT
alkej-356	2	1	basharfm88@yahoo.com	basharfm88@yahoo.com	X
alkej-356	2	2	*	*	PUNCT
alkej-356	2	3	*	*	NOUN
alkej-356	2	4	email	email	NOUN
alkej-356	2	5	:	:	PUNCT
alkej-356	2	6	aaaacontrol2010@yahoo.com	aaaacontrol2010@yahoo.com	X
alkej-356	3	1	(	(	PUNCT
alkej-356	3	2	received	receive	VERB
alkej-356	3	3	30	30	NUM
alkej-356	3	4	october	october	NOUN
alkej-356	3	5	2016	2016	NUM
alkej-356	3	6	;	;	PUNCT
alkej-356	3	7	accepted	accept	VERB
alkej-356	3	8	7	7	NUM
alkej-356	3	9	march	march	NOUN
alkej-356	3	10	2017	2017	NUM
alkej-356	3	11	)	)	PUNCT
alkej-356	3	12	https://doi.org/10.22153/kej.2017.03.003	https://doi.org/10.22153/kej.2017.03.003	NUM
alkej-356	3	13	abstract	abstract	NOUN
alkej-356	3	14	in	in	ADP
alkej-356	3	15	this	this	DET
alkej-356	3	16	work	work	NOUN
alkej-356	3	17	,	,	PUNCT
alkej-356	3	18	diabetic	diabetic	ADJ
alkej-356	3	19	glucose	glucose	NOUN
alkej-356	3	20	concentration	concentration	NOUN
alkej-356	3	21	level	level	NOUN
alkej-356	3	22	control	control	NOUN
alkej-356	3	23	under	under	ADP
alkej-356	3	24	disturbing	disturb	VERB
alkej-356	3	25	meal	meal	NOUN
alkej-356	3	26	has	have	AUX
alkej-356	3	27	been	be	AUX
alkej-356	3	28	controlled	control	VERB
alkej-356	3	29	using	use	VERB
alkej-356	3	30	two	two	NUM
alkej-356	3	31	set	set	NOUN
alkej-356	3	32	of	of	ADP
alkej-356	3	33	advanced	advanced	ADJ
alkej-356	3	34	controllers	controller	NOUN
alkej-356	3	35	.	.	PUNCT
alkej-356	4	1	the	the	DET
alkej-356	4	2	first	first	ADJ
alkej-356	4	3	set	set	NOUN
alkej-356	4	4	is	be	AUX
alkej-356	4	5	sliding	slide	VERB
alkej-356	4	6	mode	mode	NOUN
alkej-356	4	7	controllers	controller	NOUN
alkej-356	4	8	(	(	PUNCT
alkej-356	4	9	classical	classical	ADJ
alkej-356	4	10	and	and	CCONJ
alkej-356	4	11	integral	integral	ADJ
alkej-356	4	12	)	)	PUNCT
alkej-356	4	13	and	and	CCONJ
alkej-356	4	14	the	the	DET
alkej-356	4	15	second	second	ADJ
alkej-356	4	16	set	set	NOUN
alkej-356	4	17	is	be	AUX
alkej-356	4	18	represented	represent	VERB
alkej-356	4	19	by	by	ADP
alkej-356	4	20	optimal	optimal	ADJ
alkej-356	4	21	lqr	lqr	NOUN
alkej-356	4	22	controllers	controller	NOUN
alkej-356	4	23	(	(	PUNCT
alkej-356	4	24	classical	classical	ADJ
alkej-356	4	25	and	and	CCONJ
alkej-356	4	26	min-	min-	ADJ
alkej-356	4	27	,	,	PUNCT
alkej-356	4	28	ax	ax	NOUN
alkej-356	4	29	)	)	PUNCT
alkej-356	4	30	.	.	PUNCT
alkej-356	5	1	due	due	ADP
alkej-356	5	2	to	to	ADP
alkej-356	5	3	their	their	PRON
alkej-356	5	4	characteristic	characteristic	ADJ
alkej-356	5	5	features	feature	NOUN
alkej-356	5	6	of	of	ADP
alkej-356	5	7	disturbance	disturbance	NOUN
alkej-356	5	8	rejection	rejection	NOUN
alkej-356	5	9	,	,	PUNCT
alkej-356	5	10	both	both	PRON
alkej-356	5	11	integral	integral	ADJ
alkej-356	5	12	sliding	slide	VERB
alkej-356	5	13	mode	mode	NOUN
alkej-356	5	14	controller	controller	NOUN
alkej-356	5	15	and	and	CCONJ
alkej-356	5	16	lqr	lqr	PROPN
alkej-356	5	17	minmax	minmax	PROPN
alkej-356	5	18	controller	controller	PROPN
alkej-356	5	19	are	be	AUX
alkej-356	5	20	dedicated	dedicate	VERB
alkej-356	5	21	here	here	ADV
alkej-356	5	22	for	for	ADP
alkej-356	5	23	comparison	comparison	NOUN
alkej-356	5	24	.	.	PUNCT
alkej-356	6	1	the	the	DET
alkej-356	6	2	bergman	bergman	PROPN
alkej-356	6	3	minimal	minimal	PROPN
alkej-356	6	4	mathematical	mathematical	ADJ
alkej-356	6	5	model	model	NOUN
alkej-356	6	6	was	be	AUX
alkej-356	6	7	used	use	VERB
alkej-356	6	8	to	to	PART
alkej-356	6	9	represent	represent	VERB
alkej-356	6	10	the	the	DET
alkej-356	6	11	dynamic	dynamic	ADJ
alkej-356	6	12	behavior	behavior	NOUN
alkej-356	6	13	of	of	ADP
alkej-356	6	14	a	a	DET
alkej-356	6	15	diabetic	diabetic	ADJ
alkej-356	6	16	patient	patient	NOUN
alkej-356	6	17	’s	’s	PART
alkej-356	6	18	blood	blood	NOUN
alkej-356	6	19	glucose	glucose	NOUN
alkej-356	6	20	concentration	concentration	NOUN
alkej-356	6	21	to	to	ADP
alkej-356	6	22	the	the	DET
alkej-356	6	23	insulin	insulin	NOUN
alkej-356	6	24	injection	injection	NOUN
alkej-356	6	25	.	.	PUNCT
alkej-356	7	1	simulations	simulation	NOUN
alkej-356	7	2	based	base	VERB
alkej-356	7	3	on	on	ADP
alkej-356	7	4	matlab	matlab	PROPN
alkej-356	7	5	/	/	SYM
alkej-356	7	6	simulink	simulink	PROPN
alkej-356	7	7	,	,	PUNCT
alkej-356	7	8	were	be	AUX
alkej-356	7	9	performed	perform	VERB
alkej-356	7	10	to	to	PART
alkej-356	7	11	verify	verify	VERB
alkej-356	7	12	the	the	DET
alkej-356	7	13	performance	performance	NOUN
alkej-356	7	14	of	of	ADP
alkej-356	7	15	each	each	DET
alkej-356	7	16	controller	controller	NOUN
alkej-356	7	17	.	.	PUNCT
alkej-356	8	1	in	in	ADP
alkej-356	8	2	spite	spite	NOUN
alkej-356	8	3	that	that	SCONJ
alkej-356	8	4	min	min	ADJ
alkej-356	8	5	-	-	ADJ
alkej-356	8	6	max	max	ADJ
alkej-356	8	7	optimal	optimal	ADJ
alkej-356	8	8	controller	controller	NOUN
alkej-356	8	9	gave	give	VERB
alkej-356	8	10	better	well	ADJ
alkej-356	8	11	disturbance	disturbance	NOUN
alkej-356	8	12	rejection	rejection	NOUN
alkej-356	8	13	capability	capability	NOUN
alkej-356	8	14	than	than	ADP
alkej-356	8	15	classical	classical	ADJ
alkej-356	8	16	optimal	optimal	ADJ
alkej-356	8	17	controller	controller	NOUN
alkej-356	8	18	,	,	PUNCT
alkej-356	8	19	classical	classical	ADJ
alkej-356	8	20	sliding	slide	VERB
alkej-356	8	21	mode	mode	NOUN
alkej-356	8	22	controller	controller	NOUN
alkej-356	8	23	could	could	AUX
alkej-356	8	24	outperform	outperform	VERB
alkej-356	8	25	min	min	ADJ
alkej-356	8	26	-	-	ADJ
alkej-356	8	27	max	max	PROPN
alkej-356	8	28	controller	controller	NOUN
alkej-356	8	29	.	.	PUNCT
alkej-356	9	1	however	however	ADV
alkej-356	9	2	,	,	PUNCT
alkej-356	9	3	it	it	PRON
alkej-356	9	4	has	have	AUX
alkej-356	9	5	been	be	AUX
alkej-356	9	6	shown	show	VERB
alkej-356	9	7	that	that	SCONJ
alkej-356	9	8	integral	integral	ADJ
alkej-356	9	9	sliding	slide	VERB
alkej-356	9	10	mode	mode	NOUN
alkej-356	9	11	controller	controller	NOUN
alkej-356	9	12	is	be	AUX
alkej-356	9	13	the	the	DET
alkej-356	9	14	best	good	ADJ
alkej-356	9	15	of	of	ADP
alkej-356	9	16	all	all	PRON
alkej-356	9	17	in	in	ADP
alkej-356	9	18	terms	term	NOUN
alkej-356	9	19	of	of	ADP
alkej-356	9	20	disturbance	disturbance	NOUN
alkej-356	9	21	rejection	rejection	NOUN
alkej-356	9	22	capability	capability	NOUN
alkej-356	9	23	.	.	PUNCT
alkej-356	10	1	key	key	ADJ
alkej-356	10	2	words	word	NOUN
alkej-356	10	3	:	:	PUNCT
alkej-356	10	4	optimal	optimal	ADJ
alkej-356	10	5	lqr	lqr	NOUN
alkej-356	10	6	control	control	NOUN
alkej-356	10	7	,	,	PUNCT
alkej-356	10	8	optimalminimax	optimalminimax	ADJ
alkej-356	10	9	control	control	NOUN
alkej-356	10	10	,	,	PUNCT
alkej-356	10	11	sliding	slide	VERB
alkej-356	10	12	mode	mode	NOUN
alkej-356	10	13	control	control	NOUN
alkej-356	10	14	,	,	PUNCT
alkej-356	10	15	integral	integral	ADJ
alkej-356	10	16	sliding	slide	VERB
alkej-356	10	17	mode	mode	NOUN
alkej-356	10	18	control	control	NOUN
alkej-356	10	19	.	.	PUNCT
alkej-356	11	1	1	1	X
alkej-356	11	2	.	.	X
alkej-356	11	3	introduction	introduction	NOUN
alkej-356	11	4	diabetes	diabetes	NOUN
alkej-356	11	5	mellitus	mellitus	NOUN
alkej-356	11	6	is	be	AUX
alkej-356	11	7	the	the	DET
alkej-356	11	8	human	human	ADJ
alkej-356	11	9	disease	disease	NOUN
alkej-356	11	10	which	which	PRON
alkej-356	11	11	results	result	VERB
alkej-356	11	12	from	from	ADP
alkej-356	11	13	the	the	DET
alkej-356	11	14	presence	presence	NOUN
alkej-356	11	15	of	of	ADP
alkej-356	11	16	high	high	ADJ
alkej-356	11	17	level	level	NOUN
alkej-356	11	18	of	of	ADP
alkej-356	11	19	blood	blood	NOUN
alkej-356	11	20	sugar	sugar	NOUN
alkej-356	11	21	for	for	ADP
alkej-356	11	22	prolonged	prolonged	ADJ
alkej-356	11	23	period	period	NOUN
alkej-356	11	24	due	due	ADP
alkej-356	11	25	to	to	ADP
alkej-356	11	26	inadequate	inadequate	ADJ
alkej-356	11	27	generation	generation	NOUN
alkej-356	11	28	of	of	ADP
alkej-356	11	29	insulin	insulin	NOUN
alkej-356	11	30	in	in	ADP
alkej-356	11	31	blood	blood	NOUN
alkej-356	11	32	[	[	X
alkej-356	11	33	1	1	NUM
alkej-356	11	34	]	]	PUNCT
alkej-356	11	35	.	.	PUNCT
alkej-356	12	1	in	in	ADP
alkej-356	12	2	human	human	ADJ
alkej-356	12	3	body	body	NOUN
alkej-356	12	4	,	,	PUNCT
alkej-356	12	5	the	the	DET
alkej-356	12	6	beta	beta	NOUN
alkej-356	12	7	cells	cell	NOUN
alkej-356	12	8	in	in	ADP
alkej-356	12	9	pancreas	pancrea	NOUN
alkej-356	12	10	are	be	AUX
alkej-356	12	11	responsible	responsible	ADJ
alkej-356	12	12	for	for	ADP
alkej-356	12	13	producing	produce	VERB
alkej-356	12	14	the	the	DET
alkej-356	12	15	insulin	insulin	NOUN
alkej-356	12	16	,	,	PUNCT
alkej-356	12	17	which	which	PRON
alkej-356	12	18	regulates	regulate	VERB
alkej-356	12	19	the	the	DET
alkej-356	12	20	glucose	glucose	NOUN
alkej-356	12	21	consumption	consumption	NOUN
alkej-356	12	22	.	.	PUNCT
alkej-356	13	1	in	in	ADP
alkej-356	13	2	diabetes	diabetes	NOUN
alkej-356	13	3	,	,	PUNCT
alkej-356	13	4	beta	beta	ADJ
alkej-356	13	5	cells	cell	NOUN
alkej-356	13	6	fails	fail	VERB
alkej-356	13	7	to	to	PART
alkej-356	13	8	produce	produce	VERB
alkej-356	13	9	enough	enough	ADJ
alkej-356	13	10	insulin	insulin	NOUN
alkej-356	13	11	concentration	concentration	NOUN
alkej-356	13	12	in	in	ADP
alkej-356	13	13	blood	blood	NOUN
alkej-356	13	14	and	and	CCONJ
alkej-356	13	15	the	the	DET
alkej-356	13	16	human	human	ADJ
alkej-356	13	17	body	body	NOUN
alkej-356	13	18	will	will	AUX
alkej-356	13	19	be	be	AUX
alkej-356	13	20	unable	unable	ADJ
alkej-356	13	21	to	to	PART
alkej-356	13	22	control	control	VERB
alkej-356	13	23	the	the	DET
alkej-356	13	24	blood	blood	NOUN
alkej-356	13	25	glucose	glucose	NOUN
alkej-356	13	26	level	level	NOUN
alkej-356	13	27	.	.	PUNCT
alkej-356	14	1	type	type	NOUN
alkej-356	14	2	i	i	PRON
alkej-356	14	3	diabetes	diabete	VERB
alkej-356	14	4	mellitus	mellitus	NOUN
alkej-356	14	5	patients	patient	NOUN
alkej-356	14	6	can	can	AUX
alkej-356	14	7	not	not	PART
alkej-356	14	8	produce	produce	VERB
alkej-356	14	9	any	any	DET
alkej-356	14	10	insulin	insulin	NOUN
alkej-356	14	11	and	and	CCONJ
alkej-356	14	12	insulin	insulin	NOUN
alkej-356	14	13	shots	shot	NOUN
alkej-356	14	14	are	be	AUX
alkej-356	14	15	given	give	VERB
alkej-356	14	16	several	several	ADJ
alkej-356	14	17	times	time	NOUN
alkej-356	14	18	a	a	DET
alkej-356	14	19	day	day	NOUN
alkej-356	14	20	to	to	PART
alkej-356	14	21	help	help	VERB
alkej-356	14	22	regulate	regulate	VERB
alkej-356	14	23	their	their	PRON
alkej-356	14	24	blood	blood	NOUN
alkej-356	14	25	glucose	glucose	NOUN
alkej-356	14	26	level	level	NOUN
alkej-356	14	27	.	.	PUNCT
alkej-356	15	1	a	a	DET
alkej-356	15	2	typical	typical	ADJ
alkej-356	15	3	patient	patient	NOUN
alkej-356	15	4	is	be	AUX
alkej-356	15	5	then	then	ADV
alkej-356	15	6	serving	serve	VERB
alkej-356	15	7	himself	himself	PRON
alkej-356	15	8	as	as	ADP
alkej-356	15	9	a	a	DET
alkej-356	15	10	control	control	NOUN
alkej-356	15	11	system	system	NOUN
alkej-356	15	12	[	[	X
alkej-356	15	13	2	2	NUM
alkej-356	15	14	]	]	PUNCT
alkej-356	15	15	.	.	PUNCT
alkej-356	16	1	on	on	ADP
alkej-356	16	2	the	the	DET
alkej-356	16	3	other	other	ADJ
alkej-356	16	4	hand	hand	NOUN
alkej-356	16	5	,	,	PUNCT
alkej-356	16	6	any	any	DET
alkej-356	16	7	patient	patient	NOUN
alkej-356	16	8	that	that	PRON
alkej-356	16	9	suffers	suffer	VERB
alkej-356	16	10	from	from	ADP
alkej-356	16	11	diabetes	diabetes	NOUN
alkej-356	16	12	and	and	CCONJ
alkej-356	16	13	not	not	PART
alkej-356	16	14	receives	receive	VERB
alkej-356	16	15	the	the	DET
alkej-356	16	16	insulin	insulin	NOUN
alkej-356	16	17	cure	cure	NOUN
alkej-356	16	18	properly	properly	ADV
alkej-356	16	19	can	can	AUX
alkej-356	16	20	lead	lead	VERB
alkej-356	16	21	to	to	ADP
alkej-356	16	22	complications	complication	NOUN
alkej-356	16	23	such	such	ADJ
alkej-356	16	24	as	as	ADP
alkej-356	16	25	nerve	nerve	NOUN
alkej-356	16	26	damage	damage	NOUN
alkej-356	16	27	,	,	PUNCT
alkej-356	16	28	brain	brain	NOUN
alkej-356	16	29	damage	damage	NOUN
alkej-356	16	30	,	,	PUNCT
alkej-356	16	31	amputation	amputation	NOUN
alkej-356	16	32	and	and	CCONJ
alkej-356	16	33	eventually	eventually	ADV
alkej-356	16	34	death	death	NOUN
alkej-356	16	35	.	.	PUNCT
alkej-356	17	1	in	in	ADP
alkej-356	17	2	the	the	DET
alkej-356	17	3	human	human	ADJ
alkej-356	17	4	body	body	NOUN
alkej-356	17	5	,	,	PUNCT
alkej-356	17	6	the	the	DET
alkej-356	17	7	normal	normal	ADJ
alkej-356	17	8	blood	blood	NOUN
alkej-356	17	9	glucose	glucose	NOUN
alkej-356	17	10	level	level	NOUN
alkej-356	17	11	varies	vary	VERB
alkej-356	17	12	in	in	ADP
alkej-356	17	13	a	a	DET
alkej-356	17	14	narrow	narrow	ADJ
alkej-356	17	15	range	range	NOUN
alkej-356	17	16	(	(	PUNCT
alkej-356	17	17	70	70	NUM
alkej-356	17	18	-	-	SYM
alkej-356	17	19	110	110	NUM
alkej-356	17	20	)	)	PUNCT
alkej-356	17	21	mg	mg	PROPN
alkej-356	17	22	/	/	SYM
alkej-356	17	23	dl	dl	PROPN
alkej-356	17	24	.	.	PUNCT
alkej-356	18	1	the	the	DET
alkej-356	18	2	diabetes	diabetes	NOUN
alkej-356	18	3	is	be	AUX
alkej-356	18	4	diagnosed	diagnose	VERB
alkej-356	18	5	if	if	SCONJ
alkej-356	18	6	the	the	DET
alkej-356	18	7	human	human	ADJ
alkej-356	18	8	body	body	NOUN
alkej-356	18	9	is	be	AUX
alkej-356	18	10	not	not	PART
alkej-356	18	11	able	able	ADJ
alkej-356	18	12	to	to	PART
alkej-356	18	13	control	control	VERB
alkej-356	18	14	the	the	DET
alkej-356	18	15	normal	normal	ADJ
alkej-356	18	16	glucose	glucose	NOUN
alkej-356	18	17	-	-	PUNCT
alkej-356	18	18	insulin	insulin	NOUN
alkej-356	18	19	interaction	interaction	NOUN
alkej-356	19	1	[	[	X
alkej-356	19	2	3	3	NUM
alkej-356	19	3	]	]	PUNCT
alkej-356	19	4	.	.	PUNCT
alkej-356	20	1	for	for	ADP
alkej-356	20	2	this	this	DET
alkej-356	20	3	reason	reason	NOUN
alkej-356	20	4	,	,	PUNCT
alkej-356	20	5	the	the	DET
alkej-356	20	6	blood	blood	NOUN
alkej-356	20	7	glucose	glucose	NOUN
alkej-356	20	8	must	must	AUX
alkej-356	20	9	be	be	AUX
alkej-356	20	10	regulated	regulate	VERB
alkej-356	20	11	by	by	ADP
alkej-356	20	12	injecting	inject	VERB
alkej-356	20	13	the	the	DET
alkej-356	20	14	insulin	insulin	NOUN
alkej-356	20	15	[	[	X
alkej-356	20	16	4	4	NUM
alkej-356	20	17	]	]	PUNCT
alkej-356	20	18	.	.	PUNCT
alkej-356	21	1	in	in	ADP
alkej-356	21	2	general	general	ADJ
alkej-356	21	3	,	,	PUNCT
alkej-356	21	4	the	the	DET
alkej-356	21	5	closed	closed	ADJ
alkej-356	21	6	loop	loop	NOUN
alkej-356	21	7	glucose	glucose	NOUN
alkej-356	21	8	regulation	regulation	NOUN
alkej-356	21	9	system	system	NOUN
alkej-356	21	10	requires	require	VERB
alkej-356	21	11	three	three	NUM
alkej-356	21	12	components	component	NOUN
alkej-356	21	13	,	,	PUNCT
alkej-356	21	14	which	which	PRON
alkej-356	21	15	are	be	AUX
alkej-356	21	16	:	:	PUNCT
alkej-356	21	17	glucose	glucose	NOUN
alkej-356	21	18	sensor	sensor	NOUN
alkej-356	21	19	,	,	PUNCT
alkej-356	21	20	insulin	insulin	NOUN
alkej-356	21	21	pump	pump	NOUN
alkej-356	21	22	and	and	CCONJ
alkej-356	21	23	control	control	NOUN
alkej-356	21	24	method	method	NOUN
alkej-356	21	25	for	for	ADP
alkej-356	21	26	determining	determine	VERB
alkej-356	21	27	the	the	DET
alkej-356	21	28	necessary	necessary	ADJ
alkej-356	21	29	insulin	insulin	NOUN
alkej-356	21	30	dosage	dosage	NOUN
alkej-356	21	31	based	base	VERB
alkej-356	21	32	on	on	ADP
alkej-356	21	33	the	the	DET
alkej-356	21	34	glucose	glucose	NOUN
alkej-356	21	35	measurements	measurement	NOUN
alkej-356	21	36	[	[	X
alkej-356	21	37	5	5	NUM
alkej-356	21	38	]	]	PUNCT
alkej-356	21	39	.	.	PUNCT
alkej-356	22	1	figure	figure	NOUN
alkej-356	22	2	(	(	PUNCT
alkej-356	22	3	1	1	X
alkej-356	22	4	)	)	PUNCT
alkej-356	22	5	shows	show	VERB
alkej-356	22	6	the	the	DET
alkej-356	22	7	block	block	NOUN
alkej-356	22	8	diagram	diagram	NOUN
alkej-356	22	9	of	of	ADP
alkej-356	22	10	closed	closed	ADJ
alkej-356	22	11	loop	loop	NOUN
alkej-356	22	12	glucose	glucose	NOUN
alkej-356	22	13	control	control	NOUN
alkej-356	22	14	system	system	NOUN
alkej-356	22	15	.	.	PUNCT
alkej-356	23	1	bashar	bashar	PROPN
alkej-356	23	2	fateh	fateh	PROPN
alkej-356	23	3	midhat	midhat	PROPN
alkej-356	23	4	al	al	PROPN
alkej-356	23	5	-	-	PUNCT
alkej-356	23	6	khwarizmi	khwarizmi	PROPN
alkej-356	23	7	engineering	engineering	NOUN
alkej-356	23	8	journal	journal	PROPN
alkej-356	23	9	,	,	PUNCT
alkej-356	23	10	vol	vol	NOUN
alkej-356	23	11	.	.	PROPN
alkej-356	23	12	13	13	NUM
alkej-356	23	13	,	,	PUNCT
alkej-356	23	14	no	no	INTJ
alkej-356	23	15	.	.	NOUN
alkej-356	23	16	3	3	NUM
alkej-356	23	17	,	,	PUNCT
alkej-356	23	18	p.p	p.p	PROPN
alkej-356	23	19	.	.	NOUN
alkej-356	23	20	5563	5563	NUM
alkej-356	23	21	(	(	PUNCT
alkej-356	23	22	2017	2017	NUM
alkej-356	23	23	)	)	PUNCT
alkej-356	23	24	56	56	NUM
alkej-356	23	25	fig	fig	NOUN
alkej-356	23	26	.	.	PUNCT
alkej-356	24	1	1	1	X
alkej-356	24	2	.	.	X
alkej-356	24	3	block	block	NOUN
alkej-356	24	4	diagram	diagram	NOUN
alkej-356	24	5	of	of	ADP
alkej-356	24	6	closed	closed	ADJ
alkej-356	24	7	loop	loop	NOUN
alkej-356	24	8	insulin	insulin	NOUN
alkej-356	24	9	regulation	regulation	NOUN
alkej-356	24	10	system	system	NOUN
alkej-356	24	11	[	[	X
alkej-356	24	12	10	10	NUM
alkej-356	24	13	]	]	PUNCT
alkej-356	24	14	.	.	PUNCT
alkej-356	25	1	several	several	ADJ
alkej-356	25	2	approaches	approach	NOUN
alkej-356	25	3	have	have	AUX
alkej-356	25	4	been	be	AUX
alkej-356	25	5	previously	previously	ADV
alkej-356	25	6	addressed	address	VERB
alkej-356	25	7	to	to	PART
alkej-356	25	8	design	design	VERB
alkej-356	25	9	the	the	DET
alkej-356	25	10	feedback	feedback	NOUN
alkej-356	25	11	controller	controller	NOUN
alkej-356	25	12	for	for	ADP
alkej-356	25	13	insulin	insulin	NOUN
alkej-356	25	14	delivery	delivery	NOUN
alkej-356	25	15	,	,	PUNCT
alkej-356	25	16	such	such	ADJ
alkej-356	25	17	as	as	ADP
alkej-356	25	18	classical	classical	ADJ
alkej-356	25	19	methods	method	NOUN
alkej-356	25	20	like	like	ADP
alkej-356	25	21	proportional	proportional	ADJ
alkej-356	25	22	integral	integral	ADJ
alkej-356	25	23	derivative	derivative	ADJ
alkej-356	25	24	(	(	PUNCT
alkej-356	25	25	pid	pid	NOUN
alkej-356	25	26	)	)	PUNCT
alkej-356	25	27	controllers	controller	NOUN
alkej-356	26	1	[	[	X
alkej-356	26	2	6	6	NUM
alkej-356	26	3	,	,	PUNCT
alkej-356	26	4	7	7	NUM
alkej-356	26	5	]	]	PUNCT
alkej-356	26	6	and	and	CCONJ
alkej-356	26	7	pole	pole	NOUN
alkej-356	26	8	placement	placement	NOUN
alkej-356	26	9	[	[	X
alkej-356	26	10	8	8	NUM
alkej-356	26	11	]	]	PUNCT
alkej-356	26	12	,	,	PUNCT
alkej-356	26	13	which	which	PRON
alkej-356	26	14	require	require	VERB
alkej-356	26	15	a	a	DET
alkej-356	26	16	linearized	linearize	VERB
alkej-356	26	17	mathematical	mathematical	ADJ
alkej-356	26	18	model	model	NOUN
alkej-356	26	19	for	for	ADP
alkej-356	26	20	the	the	DET
alkej-356	26	21	design	design	NOUN
alkej-356	26	22	of	of	ADP
alkej-356	26	23	the	the	DET
alkej-356	26	24	controller	controller	NOUN
alkej-356	26	25	,	,	PUNCT
alkej-356	26	26	as	as	ADV
alkej-356	26	27	well	well	ADV
alkej-356	26	28	as	as	ADP
alkej-356	26	29	model	model	NOUN
alkej-356	26	30	predictive	predictive	PROPN
alkej-356	26	31	control	control	PROPN
alkej-356	26	32	(	(	PUNCT
alkej-356	26	33	mpc	mpc	NOUN
alkej-356	26	34	)	)	PUNCT
alkej-356	27	1	[	[	X
alkej-356	27	2	9	9	NUM
alkej-356	27	3	,	,	PUNCT
alkej-356	27	4	10	10	NUM
alkej-356	27	5	]	]	PUNCT
alkej-356	27	6	.	.	PUNCT
alkej-356	28	1	in	in	ADP
alkej-356	28	2	[	[	X
alkej-356	28	3	6	6	NUM
alkej-356	28	4	]	]	PUNCT
alkej-356	28	5	a	a	DET
alkej-356	28	6	pid	pid	NOUN
alkej-356	28	7	controller	controller	NOUN
alkej-356	28	8	based	base	VERB
alkej-356	28	9	on	on	ADP
alkej-356	28	10	bp	bp	PROPN
alkej-356	28	11	neural	neural	ADJ
alkej-356	28	12	networks	network	NOUN
alkej-356	28	13	is	be	AUX
alkej-356	28	14	proposed	propose	VERB
alkej-356	28	15	in	in	ADP
alkej-356	28	16	order	order	NOUN
alkej-356	28	17	to	to	PART
alkej-356	28	18	reduce	reduce	VERB
alkej-356	28	19	the	the	DET
alkej-356	28	20	time	time	NOUN
alkej-356	28	21	of	of	ADP
alkej-356	28	22	lowering	lower	VERB
alkej-356	28	23	blood	blood	NOUN
alkej-356	28	24	glucose	glucose	NOUN
alkej-356	28	25	.	.	PUNCT
alkej-356	29	1	in	in	ADP
alkej-356	29	2	[	[	X
alkej-356	29	3	11	11	NUM
alkej-356	29	4	]	]	PUNCT
alkej-356	29	5	,	,	PUNCT
alkej-356	29	6	the	the	DET
alkej-356	29	7	parameters	parameter	NOUN
alkej-356	29	8	of	of	ADP
alkej-356	29	9	hammerstein	hammerstein	PROPN
alkej-356	29	10	controller	controller	PROPN
alkej-356	29	11	were	be	AUX
alkej-356	29	12	optimized	optimize	VERB
alkej-356	29	13	in	in	ADP
alkej-356	29	14	order	order	NOUN
alkej-356	29	15	to	to	PART
alkej-356	29	16	minimize	minimize	VERB
alkej-356	29	17	the	the	DET
alkej-356	29	18	time	time	NOUN
alkej-356	29	19	that	that	PRON
alkej-356	29	20	takes	take	VERB
alkej-356	29	21	for	for	ADP
alkej-356	29	22	blood	blood	NOUN
alkej-356	29	23	glucose	glucose	NOUN
alkej-356	29	24	to	to	PART
alkej-356	29	25	come	come	VERB
alkej-356	29	26	back	back	ADV
alkej-356	29	27	to	to	ADP
alkej-356	29	28	its	its	PRON
alkej-356	29	29	basal	basal	ADJ
alkej-356	29	30	level	level	NOUN
alkej-356	29	31	.	.	PUNCT
alkej-356	30	1	also	also	ADV
alkej-356	30	2	there	there	PRON
alkej-356	30	3	are	be	VERB
alkej-356	30	4	some	some	DET
alkej-356	30	5	efforts	effort	NOUN
alkej-356	30	6	to	to	PART
alkej-356	30	7	use	use	VERB
alkej-356	30	8	model	model	NOUN
alkej-356	30	9	independent	independent	ADJ
alkej-356	30	10	based	base	VERB
alkej-356	30	11	controller	controller	NOUN
alkej-356	30	12	such	such	ADJ
alkej-356	30	13	as	as	ADP
alkej-356	30	14	fuzzy	fuzzy	ADJ
alkej-356	30	15	controllers	controller	NOUN
alkej-356	30	16	.	.	PUNCT
alkej-356	31	1	in	in	ADP
alkej-356	31	2	[	[	X
alkej-356	31	3	12	12	NUM
alkej-356	31	4	]	]	X
alkej-356	31	5	,	,	PUNCT
alkej-356	31	6	a	a	DET
alkej-356	31	7	closed	close	VERB
alkej-356	31	8	-	-	PUNCT
alkej-356	31	9	loop	loop	NOUN
alkej-356	31	10	control	control	NOUN
alkej-356	31	11	system	system	NOUN
alkej-356	31	12	applying	apply	VERB
alkej-356	31	13	fuzzy	fuzzy	ADJ
alkej-356	31	14	logic	logic	NOUN
alkej-356	31	15	control	control	NOUN
alkej-356	31	16	introduced	introduce	VERB
alkej-356	31	17	and	and	CCONJ
alkej-356	31	18	the	the	DET
alkej-356	31	19	performance	performance	NOUN
alkej-356	31	20	of	of	ADP
alkej-356	31	21	this	this	DET
alkej-356	31	22	controller	controller	NOUN
alkej-356	31	23	is	be	AUX
alkej-356	31	24	tested	test	VERB
alkej-356	31	25	on	on	ADP
alkej-356	31	26	three	three	NUM
alkej-356	31	27	different	different	ADJ
alkej-356	31	28	diabetic	diabetic	ADJ
alkej-356	31	29	patients	patient	NOUN
alkej-356	31	30	.	.	PUNCT
alkej-356	32	1	maryam	maryam	PROPN
alkej-356	33	1	[	[	X
alkej-356	33	2	13	13	NUM
alkej-356	33	3	]	]	PUNCT
alkej-356	33	4	tried	try	VERB
alkej-356	33	5	to	to	PART
alkej-356	33	6	tune	tune	VERB
alkej-356	33	7	the	the	DET
alkej-356	33	8	pd	pd	PROPN
alkej-356	33	9	fuzzy	fuzzy	ADJ
alkej-356	33	10	controller	controller	NOUN
alkej-356	33	11	with	with	ADP
alkej-356	33	12	pso	pso	NOUN
alkej-356	33	13	algorithm	algorithm	NOUN
alkej-356	33	14	.	.	PUNCT
alkej-356	34	1	these	these	DET
alkej-356	34	2	fuzzy	fuzzy	ADJ
alkej-356	34	3	controllers	controller	NOUN
alkej-356	34	4	were	be	AUX
alkej-356	34	5	just	just	ADV
alkej-356	34	6	able	able	ADJ
alkej-356	34	7	to	to	PART
alkej-356	34	8	control	control	VERB
alkej-356	34	9	the	the	DET
alkej-356	34	10	glucose	glucose	NOUN
alkej-356	34	11	concentration	concentration	NOUN
alkej-356	34	12	,	,	PUNCT
alkej-356	34	13	and	and	CCONJ
alkej-356	34	14	suffer	suffer	VERB
alkej-356	34	15	from	from	ADP
alkej-356	34	16	lack	lack	NOUN
alkej-356	34	17	of	of	ADP
alkej-356	34	18	insulin	insulin	NOUN
alkej-356	34	19	and	and	CCONJ
alkej-356	34	20	pump	pump	NOUN
alkej-356	34	21	control	control	NOUN
alkej-356	34	22	.	.	PUNCT
alkej-356	35	1	the	the	DET
alkej-356	35	2	works	work	NOUN
alkej-356	35	3	referred	refer	VERB
alkej-356	35	4	in	in	ADP
alkej-356	35	5	[	[	X
alkej-356	35	6	14	14	NUM
alkej-356	35	7	,	,	PUNCT
alkej-356	35	8	15	15	NUM
alkej-356	35	9	]	]	PUNCT
alkej-356	35	10	suggested	suggest	VERB
alkej-356	35	11	robust	robust	ADJ
alkej-356	35	12	controllers	controller	NOUN
alkej-356	35	13	such	such	ADJ
alkej-356	35	14	as	as	ADP
alkej-356	35	15	disturbance	disturbance	NOUN
alkej-356	35	16	rejection	rejection	NOUN
alkej-356	35	17	lq	lq	ADP
alkej-356	35	18	controller	controller	NOUN
alkej-356	35	19	,	,	PUNCT
alkej-356	35	20	�	�	PROPN
alkej-356	35	21	�	�	PROPN
alkej-356	35	22	and	and	CCONJ
alkej-356	35	23	�	�	PROPN
alkej-356	35	24	�	�	PROPN
alkej-356	35	25	controller	controller	NOUN
alkej-356	35	26	to	to	PART
alkej-356	35	27	regulate	regulate	VERB
alkej-356	35	28	glucose	glucose	NOUN
alkej-356	35	29	-	-	PUNCT
alkej-356	35	30	insulin	insulin	NOUN
alkej-356	35	31	system	system	NOUN
alkej-356	35	32	for	for	ADP
alkej-356	35	33	type	type	NOUN
alkej-356	35	34	i	i	PRON
alkej-356	35	35	diabetic	diabetic	ADJ
alkej-356	35	36	patients	patient	NOUN
alkej-356	35	37	under	under	ADP
alkej-356	35	38	meal	meal	NOUN
alkej-356	35	39	disturbance	disturbance	NOUN
alkej-356	35	40	.	.	PUNCT
alkej-356	36	1	in	in	ADP
alkej-356	36	2	this	this	DET
alkej-356	36	3	paper	paper	NOUN
alkej-356	36	4	,	,	PUNCT
alkej-356	36	5	four	four	NUM
alkej-356	36	6	different	different	ADJ
alkej-356	36	7	controllers	controller	NOUN
alkej-356	36	8	(	(	PUNCT
alkej-356	36	9	optimal	optimal	ADJ
alkej-356	36	10	lqr	lqr	NOUN
alkej-356	36	11	,	,	PUNCT
alkej-356	36	12	minimax	minimax	NOUN
alkej-356	36	13	optimal	optimal	ADJ
alkej-356	36	14	,	,	PUNCT
alkej-356	36	15	sliding	slide	VERB
alkej-356	36	16	mode	mode	NOUN
alkej-356	36	17	,	,	PUNCT
alkej-356	36	18	integral	integral	ADJ
alkej-356	36	19	sliding	slide	VERB
alkej-356	36	20	mode	mode	NOUN
alkej-356	36	21	)	)	PUNCT
alkej-356	36	22	are	be	AUX
alkej-356	36	23	addressed	address	VERB
alkej-356	36	24	and	and	CCONJ
alkej-356	36	25	designed	design	VERB
alkej-356	36	26	for	for	ADP
alkej-356	36	27	the	the	DET
alkej-356	36	28	glucose	glucose	NOUN
alkej-356	36	29	concentration	concentration	NOUN
alkej-356	36	30	level	level	NOUN
alkej-356	36	31	control	control	NOUN
alkej-356	36	32	problem	problem	NOUN
alkej-356	36	33	in	in	ADP
alkej-356	36	34	diabetic	diabetic	ADJ
alkej-356	36	35	patients	patient	NOUN
alkej-356	36	36	under	under	ADP
alkej-356	36	37	meal	meal	NOUN
alkej-356	36	38	disturbance	disturbance	NOUN
alkej-356	36	39	.	.	PUNCT
alkej-356	37	1	2	2	X
alkej-356	37	2	.	.	X
alkej-356	37	3	mathematical	mathematical	ADJ
alkej-356	37	4	model	model	NOUN
alkej-356	37	5	bergman	bergman	PROPN
alkej-356	37	6	minimal	minimal	PROPN
alkej-356	37	7	mathematical	mathematical	ADJ
alkej-356	37	8	model	model	NOUN
alkej-356	37	9	,	,	PUNCT
alkej-356	37	10	which	which	PRON
alkej-356	37	11	is	be	AUX
alkej-356	37	12	the	the	DET
alkej-356	37	13	most	most	ADV
alkej-356	37	14	common	common	ADJ
alkej-356	37	15	referenced	reference	VERB
alkej-356	37	16	model	model	NOUN
alkej-356	37	17	in	in	ADP
alkej-356	37	18	the	the	DET
alkej-356	37	19	literature	literature	NOUN
alkej-356	37	20	,	,	PUNCT
alkej-356	37	21	approximates	approximate	VERB
alkej-356	37	22	the	the	DET
alkej-356	37	23	dynamic	dynamic	ADJ
alkej-356	37	24	behavior	behavior	NOUN
alkej-356	37	25	of	of	ADP
alkej-356	37	26	a	a	DET
alkej-356	37	27	diabetic	diabetic	ADJ
alkej-356	37	28	patient	patient	NOUN
alkej-356	37	29	’s	’s	PART
alkej-356	37	30	blood	blood	NOUN
alkej-356	37	31	glucose	glucose	NOUN
alkej-356	37	32	concentration	concentration	NOUN
alkej-356	37	33	to	to	ADP
alkej-356	37	34	the	the	DET
alkej-356	37	35	insulin	insulin	NOUN
alkej-356	37	36	injection	injection	NOUN
alkej-356	37	37	.	.	PUNCT
alkej-356	38	1	the	the	DET
alkej-356	38	2	main	main	ADJ
alkej-356	38	3	advantage	advantage	NOUN
alkej-356	38	4	of	of	ADP
alkej-356	38	5	using	use	VERB
alkej-356	38	6	bergman	bergman	PROPN
alkej-356	38	7	minimal	minimal	ADJ
alkej-356	38	8	model	model	NOUN
alkej-356	38	9	is	be	AUX
alkej-356	38	10	that	that	SCONJ
alkej-356	38	11	the	the	DET
alkej-356	38	12	number	number	NOUN
alkej-356	38	13	of	of	ADP
alkej-356	38	14	parameters	parameter	NOUN
alkej-356	38	15	is	be	AUX
alkej-356	38	16	minimum	minimum	ADJ
alkej-356	38	17	and	and	CCONJ
alkej-356	38	18	it	it	PRON
alkej-356	38	19	describes	describe	VERB
alkej-356	38	20	the	the	DET
alkej-356	38	21	relation	relation	NOUN
alkej-356	38	22	between	between	ADP
alkej-356	38	23	main	main	ADJ
alkej-356	38	24	two	two	NUM
alkej-356	38	25	factors	factor	NOUN
alkej-356	38	26	,	,	PUNCT
alkej-356	38	27	insulin	insulin	NOUN
alkej-356	38	28	and	and	CCONJ
alkej-356	38	29	glucose	glucose	NOUN
alkej-356	38	30	concentrations	concentration	NOUN
alkej-356	38	31	,	,	PUNCT
alkej-356	38	32	without	without	ADP
alkej-356	38	33	getting	get	VERB
alkej-356	38	34	into	into	ADP
alkej-356	38	35	biological	biological	ADJ
alkej-356	38	36	complicated	complicated	ADJ
alkej-356	38	37	details	detail	NOUN
alkej-356	38	38	.	.	PUNCT
alkej-356	39	1	in	in	ADP
alkej-356	39	2	the	the	DET
alkej-356	39	3	present	present	ADJ
alkej-356	39	4	work	work	NOUN
alkej-356	39	5	,	,	PUNCT
alkej-356	39	6	nonlinear	nonlinear	ADJ
alkej-356	39	7	three	three	NUM
alkej-356	39	8	-	-	PUNCT
alkej-356	39	9	state	state	NOUN
alkej-356	39	10	minimal	minimal	ADJ
alkej-356	39	11	model	model	NOUN
alkej-356	39	12	of	of	ADP
alkej-356	39	13	bergman	bergman	PROPN
alkej-356	39	14	is	be	AUX
alkej-356	39	15	considered	consider	VERB
alkej-356	39	16	[	[	PUNCT
alkej-356	39	17	7	7	NUM
alkej-356	39	18	]	]	X
alkej-356	39	19	;	;	PUNCT
alkej-356	39	20	�	�	PROPN
alkej-356	39	21	�	�	PROPN
alkej-356	39	22	�	�	PROPN
alkej-356	39	23	�	�	PROPN
alkej-356	39	24	�	�	PROPN
alkej-356	39	25	=	=	PUNCT
alkej-356	39	26	−	−	PROPN
alkej-356	39	27	�	�	PROPN
alkej-356	39	28	�	�	PROPN
alkej-356	39	29	�	�	PROPN
alkej-356	39	30	�	�	PROPN
alkej-356	39	31	�	�	PROPN
alkej-356	39	32	�	�	PROPN
alkej-356	39	33	−	−	PROPN
alkej-356	39	34	�	�	PROPN
alkej-356	39	35	�	�	PROPN
alkej-356	39	36	�	�	PROPN
alkej-356	39	37	�	�	PROPN
alkej-356	39	38	�	�	PROPN
alkej-356	39	39	�	�	PROPN
alkej-356	39	40	�	�	PROPN
alkej-356	39	41	�	�	PROPN
alkej-356	39	42	+	+	CCONJ
alkej-356	39	43	�	�	PROPN
alkej-356	39	44	�	�	PROPN
alkej-356	39	45	�	�	PROPN
alkej-356	39	46	+	+	CCONJ
alkej-356	39	47	ℎ	ℎ	PROPN
alkej-356	39	48	�	�	PROPN
alkej-356	39	49	�	�	PROPN
alkej-356	39	50	�	�	PROPN
alkej-356	39	51	�	�	PROPN
alkej-356	39	52	�	�	PROPN
alkej-356	39	53	�	�	PROPN
alkej-356	39	54	�	�	PROPN
alkej-356	39	55	=	=	PUNCT
alkej-356	39	56	−	−	PROPN
alkej-356	39	57	�	�	PROPN
alkej-356	39	58	�	�	PROPN
alkej-356	39	59	�	�	PROPN
alkej-356	39	60	�	�	PROPN
alkej-356	39	61	�	�	PROPN
alkej-356	39	62	+	+	SYM
alkej-356	39	63	�	�	PROPN
alkej-356	39	64	�	�	PROPN
alkej-356	39	65	�	�	PROPN
alkej-356	39	66	�	�	PROPN
alkej-356	39	67	�	�	PROPN
alkej-356	39	68	�	�	PROPN
alkej-356	39	69	�	�	PROPN
alkej-356	39	70	�	�	PROPN
alkej-356	39	71	�	�	PROPN
alkej-356	39	72	�	�	PROPN
alkej-356	39	73	�	�	PROPN
alkej-356	39	74	=	=	PUNCT
alkej-356	39	75	−	−	PROPN
alkej-356	39	76	�	�	PROPN
alkej-356	39	77	�	�	PROPN
alkej-356	39	78	�	�	PROPN
alkej-356	39	79	�	�	PROPN
alkej-356	39	80	�	�	PROPN
alkej-356	39	81	�	�	PROPN
alkej-356	39	82	�	�	PROPN
alkej-356	39	83	+	+	CCONJ
alkej-356	39	84	�	�	PROPN
alkej-356	39	85	�	�	PROPN
alkej-356	39	86	�	�	PROPN
alkej-356	39	87	+	+	SYM
alkej-356	39	88	�	�	PROPN
alkej-356	39	89	�	�	PROPN
alkej-356	39	90	�	�	PROPN
alkej-356	39	91	�	�	PROPN
alkej-356	39	92	�	�	PROPN
alkej-356	39	93	�	�	PROPN
alkej-356	39	94	⁄	⁄	PROPN
alkej-356	39	95	…	…	PUNCT
alkej-356	39	96	(	(	PUNCT
alkej-356	39	97	1	1	NUM
alkej-356	39	98	)	)	PUNCT
alkej-356	39	99	where	where	SCONJ
alkej-356	39	100	g(t	g(t	PROPN
alkej-356	39	101	)	)	PUNCT
alkej-356	39	102	is	be	AUX
alkej-356	39	103	plasma	plasma	NOUN
alkej-356	39	104	glucose	glucose	NOUN
alkej-356	39	105	deviation	deviation	NOUN
alkej-356	39	106	,	,	PUNCT
alkej-356	39	107	[	[	X
alkej-356	39	108	mg	mg	X
alkej-356	39	109	/	/	SYM
alkej-356	39	110	dl	dl	NOUN
alkej-356	39	111	]	]	X
alkej-356	39	112	,	,	PUNCT
alkej-356	39	113	x(t	x(t	PROPN
alkej-356	39	114	)	)	PUNCT
alkej-356	39	115	is	be	AUX
alkej-356	39	116	remote	remote	ADJ
alkej-356	39	117	compartment	compartment	NOUN
alkej-356	39	118	insulin	insulin	NOUN
alkej-356	39	119	utilization	utilization	NOUN
alkej-356	39	120	,	,	PUNCT
alkej-356	39	121	[	[	X
alkej-356	39	122	1	1	NUM
alkej-356	39	123	/	/	SYM
alkej-356	39	124	min	min	NOUN
alkej-356	39	125	]	]	X
alkej-356	39	126	and	and	CCONJ
alkej-356	39	127	y	y	PROPN
alkej-356	39	128	(	(	PUNCT
alkej-356	39	129	t	t	PROPN
alkej-356	39	130	)	)	PUNCT
alkej-356	39	131	is	be	AUX
alkej-356	39	132	plasma	plasma	NOUN
alkej-356	39	133	insulin	insulin	NOUN
alkej-356	39	134	deviation	deviation	NOUN
alkej-356	39	135	,	,	PUNCT
alkej-356	40	1	[	[	X
alkej-356	40	2	mu	mu	X
alkej-356	40	3	/	/	SYM
alkej-356	40	4	dl	dl	PROPN
alkej-356	40	5	]	]	PUNCT
alkej-356	40	6	.	.	PUNCT
alkej-356	41	1	the	the	DET
alkej-356	41	2	control	control	PROPN
alkej-356	41	3	variable	variable	PROPN
alkej-356	41	4	�	�	PROPN
alkej-356	41	5	�	�	PROPN
alkej-356	41	6	�	�	PROPN
alkej-356	41	7	�	�	PROPN
alkej-356	41	8	is	be	AUX
alkej-356	41	9	the	the	DET
alkej-356	41	10	exogenous	exogenous	ADJ
alkej-356	41	11	insulin	insulin	NOUN
alkej-356	41	12	infusion	infusion	NOUN
alkej-356	41	13	rate	rate	NOUN
alkej-356	41	14	(	(	PUNCT
alkej-356	41	15	mu	mu	NOUN
alkej-356	41	16	/	/	SYM
alkej-356	41	17	min	min	NOUN
alkej-356	41	18	)	)	PUNCT
alkej-356	41	19	,	,	PUNCT
alkej-356	41	20	while	while	SCONJ
alkej-356	41	21	the	the	DET
alkej-356	41	22	disturbance	disturbance	NOUN
alkej-356	41	23	ℎ	ℎ	PROPN
alkej-356	41	24	�	�	PROPN
alkej-356	41	25	�	�	PROPN
alkej-356	41	26	�	�	PROPN
alkej-356	41	27	represents	represent	VERB
alkej-356	41	28	the	the	DET
alkej-356	41	29	exogenous	exogenous	ADJ
alkej-356	41	30	glucose	glucose	NOUN
alkej-356	41	31	infusion	infusion	NOUN
alkej-356	41	32	rate	rate	NOUN
alkej-356	41	33	(	(	PUNCT
alkej-356	41	34	mg	mg	PROPN
alkej-356	41	35	/	/	SYM
alkej-356	41	36	dl	dl	PROPN
alkej-356	41	37	min	min	PROPN
alkej-356	41	38	)	)	PUNCT
alkej-356	41	39	.	.	PUNCT
alkej-356	42	1	the	the	DET
alkej-356	42	2	physical	physical	ADJ
alkej-356	42	3	parameters	parameter	NOUN
alkej-356	42	4	�	�	PROPN
alkej-356	42	5	�	�	PROPN
alkej-356	42	6	and	and	CCONJ
alkej-356	42	7	�	�	PROPN
alkej-356	42	8	�	�	PROPN
alkej-356	42	9	are	be	AUX
alkej-356	42	10	the	the	DET
alkej-356	42	11	basal	basal	ADJ
alkej-356	42	12	glucose	glucose	NOUN
alkej-356	42	13	level	level	NOUN
alkej-356	42	14	(	(	PUNCT
alkej-356	42	15	�	�	PROPN
alkej-356	42	16	�	�	PROPN
alkej-356	42	17	/	/	SYM
alkej-356	42	18	�	�	PROPN
alkej-356	42	19	�	�	PROPN
alkej-356	42	20	)	)	PUNCT
alkej-356	42	21	,	,	PUNCT
alkej-356	42	22	and	and	CCONJ
alkej-356	42	23	basal	basal	VERB
alkej-356	42	24	insulin	insulin	NOUN
alkej-356	42	25	level	level	NOUN
alkej-356	42	26	(	(	PUNCT
alkej-356	42	27	�	�	PROPN
alkej-356	42	28	�	�	PROPN
alkej-356	42	29	/	/	SYM
alkej-356	42	30	�	�	PROPN
alkej-356	42	31	�	�	PROPN
alkej-356	42	32	)	)	PUNCT
alkej-356	42	33	,	,	PUNCT
alkej-356	42	34	respectively	respectively	ADV
alkej-356	42	35	,	,	PUNCT
alkej-356	42	36	and	and	CCONJ
alkej-356	42	37	�	�	PROPN
alkej-356	42	38	�	�	PROPN
alkej-356	42	39	is	be	AUX
alkej-356	42	40	the	the	DET
alkej-356	42	41	insulin	insulin	NOUN
alkej-356	42	42	distribution	distribution	NOUN
alkej-356	42	43	volume	volume	NOUN
alkej-356	42	44	(	(	PUNCT
alkej-356	42	45	�	�	PROPN
alkej-356	42	46	�	�	PROPN
alkej-356	42	47	)	)	PUNCT
alkej-356	42	48	.	.	PUNCT
alkej-356	43	1	the	the	DET
alkej-356	43	2	model	model	NOUN
alkej-356	43	3	parameters	parameter	NOUN
alkej-356	43	4	are	be	AUX
alkej-356	43	5	:	:	PUNCT
alkej-356	43	6	�	�	PROPN
alkej-356	43	7	�	�	PROPN
alkej-356	43	8	�	�	PROPN
alkej-356	43	9	1	1	NUM
alkej-356	43	10	�	�	PROPN
alkej-356	43	11	�	�	PROPN
alkej-356	43	12	⁄	⁄	PROPN
alkej-356	43	13	�	�	PROPN
alkej-356	43	14	,	,	PUNCT
alkej-356	43	15	�	�	PROPN
alkej-356	43	16	�	�	PROPN
alkej-356	43	17	�	�	PROPN
alkej-356	43	18	1	1	NUM
alkej-356	43	19	�	�	PROPN
alkej-356	43	20	�	�	PROPN
alkej-356	43	21	⁄	⁄	PROPN
alkej-356	43	22	�	�	PROPN
alkej-356	43	23	,	,	PUNCT
alkej-356	43	24	�	�	PROPN
alkej-356	43	25	�	�	PROPN
alkej-356	43	26	�	�	PROPN
alkej-356	43	27	�	�	PROPN
alkej-356	43	28	�	�	PROPN
alkej-356	43	29	�	�	PROPN
alkej-356	43	30	�	�	PROPN
alkej-356	43	31	�	�	PROPN
alkej-356	43	32	�	�	PROPN
alkej-356	43	33	�	�	PROPN
alkej-356	43	34	�	�	PROPN
alkej-356	43	35	⁄	⁄	PROPN
alkej-356	43	36	�	�	PROPN
alkej-356	43	37	�	�	PROPN
alkej-356	43	38	and	and	CCONJ
alkej-356	43	39	�	�	PROPN
alkej-356	43	40	�	�	PROPN
alkej-356	43	41	�	�	PROPN
alkej-356	43	42	1	1	NUM
alkej-356	43	43	�	�	PROPN
alkej-356	43	44	�	�	PROPN
alkej-356	43	45	⁄	⁄	PROPN
alkej-356	43	46	�	�	PROPN
alkej-356	43	47	.	.	PUNCT
alkej-356	44	1	if	if	SCONJ
alkej-356	44	2	the	the	DET
alkej-356	44	3	unmeasurable	unmeasurable	ADJ
alkej-356	44	4	variable	variable	ADJ
alkej-356	44	5	�	�	PROPN
alkej-356	44	6	�	�	PROPN
alkej-356	44	7	�	�	PROPN
alkej-356	44	8	is	be	AUX
alkej-356	44	9	assumed	assume	VERB
alkej-356	44	10	a	a	DET
alkej-356	44	11	slow	slow	ADJ
alkej-356	44	12	variable	variable	NOUN
alkej-356	44	13	,	,	PUNCT
alkej-356	44	14	then	then	ADV
alkej-356	44	15	�	�	PROPN
alkej-356	44	16	�	�	PROPN
alkej-356	44	17	�	�	PROPN
alkej-356	44	18	�	�	PROPN
alkej-356	44	19	=	=	SYM
alkej-356	44	20	0	0	PROPN
alkej-356	44	21	.	.	PUNCT
alkej-356	44	22	from	from	ADP
alkej-356	44	23	eq.(1	eq.(1	ADJ
alkej-356	44	24	)	)	PUNCT
alkej-356	44	25	,	,	PUNCT
alkej-356	44	26	the	the	DET
alkej-356	44	27	expression	expression	NOUN
alkej-356	44	28	�	�	PROPN
alkej-356	44	29	�	�	PROPN
alkej-356	44	30	�	�	PROPN
alkej-356	44	31	=	=	SYM
alkej-356	44	32	�	�	PROPN
alkej-356	44	33	�	�	PROPN
alkej-356	44	34	�	�	PROPN
alkej-356	44	35	/	/	SYM
alkej-356	44	36	�	�	PROPN
alkej-356	44	37	�	�	PROPN
alkej-356	44	38	�	�	PROPN
alkej-356	44	39	�	�	PROPN
alkej-356	44	40	�	�	PROPN
alkej-356	44	41	�	�	PROPN
alkej-356	44	42	�	�	PROPN
alkej-356	44	43	can	can	AUX
alkej-356	44	44	be	be	AUX
alkej-356	44	45	found	find	VERB
alkej-356	44	46	.	.	PUNCT
alkej-356	45	1	substitution	substitution	VERB
alkej-356	45	2	this	this	DET
alkej-356	45	3	expression	expression	NOUN
alkej-356	45	4	into	into	ADP
alkej-356	45	5	the	the	DET
alkej-356	45	6	first	first	ADJ
alkej-356	45	7	equation	equation	NOUN
alkej-356	45	8	,	,	PUNCT
alkej-356	45	9	the	the	DET
alkej-356	45	10	model	model	NOUN
alkej-356	45	11	of	of	ADP
alkej-356	45	12	eq.(1	eq.(1	ADJ
alkej-356	45	13	)	)	PUNCT
alkej-356	45	14	is	be	AUX
alkej-356	45	15	reduced	reduce	VERB
alkej-356	45	16	to	to	ADP
alkej-356	45	17	the	the	DET
alkej-356	45	18	following	following	NOUN
alkej-356	45	19	[	[	X
alkej-356	45	20	13	13	NUM
alkej-356	45	21	]	]	SYM
alkej-356	45	22	:	:	PUNCT
alkej-356	45	23	�	�	PROPN
alkej-356	45	24	�	�	PROPN
alkej-356	45	25	�	�	PROPN
alkej-356	45	26	�	�	PROPN
alkej-356	45	27	�	�	PROPN
alkej-356	45	28	=	=	PUNCT
alkej-356	45	29	−	−	PROPN
alkej-356	45	30	�	�	PROPN
alkej-356	45	31	�	�	PROPN
alkej-356	45	32	�	�	PROPN
alkej-356	45	33	�	�	PROPN
alkej-356	45	34	�	�	PROPN
alkej-356	45	35	�	�	PROPN
alkej-356	45	36	−	−	PROPN
alkej-356	45	37	�	�	PROPN
alkej-356	45	38	�	�	PROPN
alkej-356	45	39	�	�	PROPN
alkej-356	45	40	�	�	PROPN
alkej-356	45	41	�	�	PROPN
alkej-356	45	42	�	�	PROPN
alkej-356	45	43	�	�	PROPN
alkej-356	45	44	�	�	PROPN
alkej-356	45	45	�	�	PROPN
alkej-356	45	46	�	�	PROPN
alkej-356	45	47	�	�	PROPN
alkej-356	45	48	�	�	PROPN
alkej-356	45	49	�	�	PROPN
alkej-356	45	50	+	+	CCONJ
alkej-356	45	51	�	�	PROPN
alkej-356	45	52	�	�	PROPN
alkej-356	45	53	�	�	PROPN
alkej-356	45	54	+	+	CCONJ
alkej-356	45	55	ℎ	ℎ	PROPN
alkej-356	45	56	�	�	PROPN
alkej-356	45	57	�	�	PROPN
alkej-356	45	58	�	�	PROPN
alkej-356	45	59	�	�	PROPN
alkej-356	45	60	�	�	PROPN
alkej-356	45	61	�	�	PROPN
alkej-356	45	62	�	�	PROPN
alkej-356	45	63	�	�	PROPN
alkej-356	45	64	=	=	PUNCT
alkej-356	45	65	−	−	PROPN
alkej-356	45	66	�	�	PROPN
alkej-356	45	67	�	�	PROPN
alkej-356	45	68	�	�	PROPN
alkej-356	45	69	�	�	PROPN
alkej-356	45	70	�	�	PROPN
alkej-356	45	71	�	�	PROPN
alkej-356	45	72	�	�	PROPN
alkej-356	45	73	+	+	CCONJ
alkej-356	45	74	�	�	PROPN
alkej-356	45	75	�	�	PROPN
alkej-356	45	76	�	�	PROPN
alkej-356	45	77	+	+	SYM
alkej-356	45	78	�	�	PROPN
alkej-356	45	79	�	�	PROPN
alkej-356	45	80	�	�	PROPN
alkej-356	45	81	�	�	PROPN
alkej-356	45	82	�	�	PROPN
alkej-356	45	83	�	�	PROPN
alkej-356	45	84	⁄	⁄	PROPN
alkej-356	45	85	…	…	PUNCT
alkej-356	45	86	(	(	PUNCT
alkej-356	45	87	2	2	NUM
alkej-356	45	88	)	)	PUNCT
alkej-356	45	89	the	the	DET
alkej-356	45	90	linearization	linearization	NOUN
alkej-356	45	91	of	of	ADP
alkej-356	45	92	eq.(2	eq.(2	NOUN
alkej-356	45	93	)	)	PUNCT
alkej-356	45	94	is	be	AUX
alkej-356	45	95	performed	perform	VERB
alkej-356	45	96	by	by	ADP
alkej-356	45	97	taking	take	VERB
alkej-356	45	98	the	the	DET
alkej-356	45	99	variation	variation	NOUN
alkej-356	45	100	of	of	ADP
alkej-356	45	101	�	�	PROPN
alkej-356	45	102	�	�	PROPN
alkej-356	45	103	�	�	PROPN
alkej-356	45	104	�	�	PROPN
alkej-356	45	105	=	=	SYM
alkej-356	45	106	�	�	PROPN
alkej-356	45	107	"	"	PUNCT
alkej-356	46	1	+	+	CCONJ
alkej-356	46	2	∆	∆	PROPN
alkej-356	46	3	�	�	PROPN
alkej-356	46	4	�	�	PROPN
alkej-356	46	5	�	�	PROPN
alkej-356	46	6	�	�	PROPN
alkej-356	46	7	and	and	CCONJ
alkej-356	46	8	�	�	PROPN
alkej-356	46	9	�	�	PROPN
alkej-356	46	10	�	�	PROPN
alkej-356	46	11	�	�	PROPN
alkej-356	46	12	=	=	SYM
alkej-356	46	13	�	�	PROPN
alkej-356	46	14	"	"	PUNCT
alkej-356	46	15	+	+	CCONJ
alkej-356	46	16	∆	∆	PROPN
alkej-356	46	17	�	�	PROPN
alkej-356	46	18	�	�	PROPN
alkej-356	46	19	�	�	PROPN
alkej-356	46	20	�	�	PROPN
alkej-356	46	21	around	around	ADP
alkej-356	46	22	equilibrium	equilibrium	NOUN
alkej-356	46	23	points	point	NOUN
alkej-356	46	24	(	(	PUNCT
alkej-356	46	25	�	�	PROPN
alkej-356	46	26	"	"	PUNCT
alkej-356	46	27	,	,	PUNCT
alkej-356	46	28	y0	y0	NOUN
alkej-356	46	29	,	,	PUNCT
alkej-356	46	30	ℎ	ℎ	ADJ
alkej-356	46	31	"	"	PUNCT
alkej-356	46	32	,	,	PUNCT
alkej-356	46	33	�	�	PROPN
alkej-356	46	34	"	"	PUNCT
alkej-356	46	35	)	)	PUNCT
alkej-356	46	36	.	.	PUNCT
alkej-356	47	1	the	the	DET
alkej-356	47	2	perturbed	perturb	VERB
alkej-356	47	3	version	version	NOUN
alkej-356	47	4	of	of	ADP
alkej-356	47	5	eq.(2	eq.(2	NOUN
alkej-356	47	6	)	)	PUNCT
alkej-356	47	7	is	be	AUX
alkej-356	47	8	given	give	VERB
alkej-356	47	9	by	by	ADP
alkej-356	47	10	;	;	PUNCT
alkej-356	48	1	∆	∆	X
alkej-356	48	2	�	�	PROPN
alkej-356	48	3	�	�	PROPN
alkej-356	48	4	=	=	PUNCT
alkej-356	48	5	$	$	SYM
alkej-356	48	6	−	−	PROPN
alkej-356	48	7	�	�	PROPN
alkej-356	48	8	�	�	PROPN
alkej-356	48	9	−	−	PROPN
alkej-356	48	10	�	�	PROPN
alkej-356	48	11	�	�	PROPN
alkej-356	48	12	�	�	PROPN
alkej-356	48	13	�	�	PROPN
alkej-356	48	14	�	�	PROPN
alkej-356	48	15	"	"	PUNCT
alkej-356	48	16	%	%	NOUN
alkej-356	48	17	∆	∆	PROPN
alkej-356	48	18	�	�	PROPN
alkej-356	48	19	�	�	PROPN
alkej-356	48	20	�	�	PROPN
alkej-356	48	21	�	�	PROPN
alkej-356	48	22	−	−	PROPN
alkej-356	48	23	�	�	PROPN
alkej-356	48	24	�	�	PROPN
alkej-356	48	25	&	&	CCONJ
alkej-356	48	26	+	+	PROPN
alkej-356	48	27	�	�	PROPN
alkej-356	48	28	�	�	PROPN
alkej-356	48	29	�	�	PROPN
alkej-356	48	30	�	�	PROPN
alkej-356	48	31	�	�	PROPN
alkej-356	48	32	�	�	PROPN
alkej-356	48	33	�	�	PROPN
alkej-356	48	34	∆	∆	PROPN
alkej-356	48	35	�	�	PROPN
alkej-356	48	36	�	�	PROPN
alkej-356	48	37	�	�	PROPN
alkej-356	48	38	�	�	PROPN
alkej-356	48	39	∆	∆	PROPN
alkej-356	48	40	�	�	PROPN
alkej-356	48	41	�	�	PROPN
alkej-356	48	42	�	�	PROPN
alkej-356	48	43	�	�	PROPN
alkej-356	48	44	�	�	PROPN
alkej-356	48	45	=	=	PUNCT
alkej-356	48	46	−	−	PROPN
alkej-356	48	47	�	�	PROPN
alkej-356	48	48	�	�	PROPN
alkej-356	48	49	∆	∆	PROPN
alkej-356	48	50	�	�	PROPN
alkej-356	48	51	�	�	PROPN
alkej-356	48	52	�	�	PROPN
alkej-356	48	53	�	�	PROPN
alkej-356	48	54	+	+	CCONJ
alkej-356	48	55	∆	∆	PROPN
alkej-356	48	56	�	�	PROPN
alkej-356	48	57	�	�	PROPN
alkej-356	48	58	�	�	PROPN
alkej-356	48	59	�	�	PROPN
alkej-356	48	60	�	�	PROPN
alkej-356	48	61	�	�	PROPN
alkej-356	48	62	⁄	⁄	PROPN
alkej-356	48	63	…	…	PUNCT
alkej-356	48	64	(	(	PUNCT
alkej-356	48	65	3	3	X
alkej-356	48	66	)	)	PUNCT
alkej-356	48	67	if∆	if∆	PROPN
alkej-356	48	68	�	�	PROPN
alkej-356	48	69	�	�	PROPN
alkej-356	48	70	�	�	PROPN
alkej-356	48	71	�	�	PROPN
alkej-356	48	72	is	be	AUX
alkej-356	48	73	defined	define	VERB
alkej-356	48	74	as	as	ADP
alkej-356	48	75	the	the	DET
alkej-356	48	76	first	first	ADJ
alkej-356	48	77	state	state	NOUN
alkej-356	48	78	variable	variable	NOUN
alkej-356	48	79	'	'	PUNCT
alkej-356	48	80	�	�	PROPN
alkej-356	48	81	�	�	PROPN
alkej-356	48	82	�	�	PROPN
alkej-356	48	83	�	�	PROPN
alkej-356	48	84	,	,	PUNCT
alkej-356	48	85	∆	∆	PROPN
alkej-356	48	86	�	�	PROPN
alkej-356	48	87	�	�	PROPN
alkej-356	48	88	�	�	PROPN
alkej-356	48	89	�	�	PROPN
alkej-356	48	90	is	be	AUX
alkej-356	48	91	set	set	VERB
alkej-356	48	92	as	as	ADP
alkej-356	48	93	second	second	ADJ
alkej-356	48	94	state	state	NOUN
alkej-356	48	95	variable	variable	NOUN
alkej-356	48	96	'	'	PUNCT
alkej-356	48	97	�	�	PROPN
alkej-356	48	98	�	�	PROPN
alkej-356	48	99	�	�	PROPN
alkej-356	48	100	�	�	PROPN
alkej-356	48	101	and	and	CCONJ
alkej-356	48	102	(	(	PUNCT
alkej-356	48	103	�	�	PROPN
alkej-356	48	104	�	�	PROPN
alkej-356	48	105	�	�	PROPN
alkej-356	48	106	is	be	AUX
alkej-356	48	107	assigned	assign	VERB
alkej-356	48	108	to	to	PART
alkej-356	48	109	control	control	VERB
alkej-356	48	110	input	input	NOUN
alkej-356	48	111	variation∆	variation∆	PROPN
alkej-356	48	112	�	�	PROPN
alkej-356	48	113	�	�	PROPN
alkej-356	48	114	�	�	PROPN
alkej-356	48	115	�	�	PROPN
alkej-356	48	116	,	,	PUNCT
alkej-356	48	117	then	then	ADV
alkej-356	48	118	the	the	DET
alkej-356	48	119	previous	previous	ADJ
alkej-356	48	120	equation	equation	NOUN
alkej-356	48	121	can	can	AUX
alkej-356	48	122	be	be	AUX
alkej-356	48	123	written	write	VERB
alkej-356	48	124	in	in	ADP
alkej-356	48	125	the	the	DET
alkej-356	48	126	following	follow	VERB
alkej-356	48	127	state	state	NOUN
alkej-356	48	128	space	space	NOUN
alkej-356	48	129	form	form	NOUN
alkej-356	48	130	,	,	PUNCT
alkej-356	48	131	)	)	PUNCT
alkej-356	48	132	�	�	PROPN
alkej-356	48	133	�	�	PROPN
alkej-356	48	134	�	�	PROPN
alkej-356	48	135	�	�	PROPN
alkej-356	48	136	=	=	PUNCT
alkej-356	48	137	*	*	PUNCT
alkej-356	48	138	−	−	PROPN
alkej-356	48	139	�	�	PROPN
alkej-356	48	140	�	�	PROPN
alkej-356	48	141	−	−	PROPN
alkej-356	48	142	�	�	PROPN
alkej-356	48	143	�	�	PROPN
alkej-356	48	144	�	�	PROPN
alkej-356	48	145	"	"	PUNCT
alkej-356	48	146	�	�	PROPN
alkej-356	48	147	�	�	PROPN
alkej-356	48	148	−	−	PROPN
alkej-356	48	149	�	�	PROPN
alkej-356	48	150	�	�	PROPN
alkej-356	48	151	&	&	CCONJ
alkej-356	48	152	+	+	PROPN
alkej-356	48	153	�	�	PROPN
alkej-356	48	154	�	�	PROPN
alkej-356	48	155	�	�	PROPN
alkej-356	48	156	�	�	PROPN
alkej-356	48	157	�	�	PROPN
alkej-356	48	158	�	�	PROPN
alkej-356	48	159	�	�	PROPN
alkej-356	48	160	0	0	NUM
alkej-356	48	161	−	−	NUM
alkej-356	48	162	�	�	PROPN
alkej-356	48	163	�	�	PROPN
alkej-356	48	164	+	+	NUM
alkej-356	48	165	)	)	PUNCT
alkej-356	48	166	�	�	PROPN
alkej-356	48	167	�	�	PROPN
alkej-356	48	168	�	�	PROPN
alkej-356	48	169	+	+	SYM
alkej-356	48	170	,	,	PUNCT
alkej-356	48	171	01	01	NUM
alkej-356	48	172	�	�	PROPN
alkej-356	48	173	�	�	PROPN
alkej-356	48	174	⁄	⁄	PROPN
alkej-356	48	175	(	(	PUNCT
alkej-356	48	176	�	�	PROPN
alkej-356	48	177	�	�	PROPN
alkej-356	48	178	�	�	PROPN
alkej-356	48	179	+	+	CCONJ
alkej-356	48	180	.10/	.10/	PROPN
alkej-356	48	181	ℎ	ℎ	PROPN
alkej-356	48	182	�	�	PROPN
alkej-356	48	183	�	�	PROPN
alkej-356	48	184	�	�	PROPN
alkej-356	48	185	…	…	PUNCT
alkej-356	48	186	(	(	PUNCT
alkej-356	48	187	4	4	NUM
alkej-356	48	188	)	)	PUNCT
alkej-356	48	189	0	0	NUM
alkej-356	48	190	�	�	PROPN
alkej-356	48	191	�	�	NOUN
alkej-356	48	192	�	�	PROPN
alkej-356	48	193	=	=	SYM
alkej-356	48	194	.1	.1	PROPN
alkej-356	48	195	00	00	SYM
alkej-356	48	196	1/	1/	NUM
alkej-356	48	197	)	)	PUNCT
alkej-356	48	198	�	�	PROPN
alkej-356	48	199	�	�	PROPN
alkej-356	48	200	�	�	PROPN
alkej-356	48	201	bashar	bashar	PROPN
alkej-356	48	202	fateh	fateh	PROPN
alkej-356	48	203	midhat	midhat	PROPN
alkej-356	48	204	al	al	PROPN
alkej-356	48	205	-	-	PUNCT
alkej-356	48	206	khwarizmi	khwarizmi	PROPN
alkej-356	48	207	engineering	engineering	NOUN
alkej-356	48	208	journal	journal	PROPN
alkej-356	48	209	,	,	PUNCT
alkej-356	48	210	vol	vol	NOUN
alkej-356	48	211	.	.	PROPN
alkej-356	48	212	13	13	NUM
alkej-356	48	213	,	,	PUNCT
alkej-356	48	214	no	no	INTJ
alkej-356	48	215	.	.	NOUN
alkej-356	48	216	3	3	NUM
alkej-356	48	217	,	,	PUNCT
alkej-356	48	218	p.p	p.p	PROPN
alkej-356	48	219	.	.	NOUN
alkej-356	48	220	5563	5563	NUM
alkej-356	48	221	(	(	PUNCT
alkej-356	48	222	2017	2017	NUM
alkej-356	48	223	)	)	PUNCT
alkej-356	48	224	57	57	NUM
alkej-356	48	225	for	for	ADP
alkej-356	48	226	control	control	NOUN
alkej-356	48	227	objectives	objective	NOUN
alkej-356	48	228	,	,	PUNCT
alkej-356	48	229	the	the	DET
alkej-356	48	230	linearization	linearization	NOUN
alkej-356	48	231	in	in	ADP
alkej-356	48	232	state	state	NOUN
alkej-356	48	233	space	space	NOUN
alkej-356	48	234	of	of	ADP
alkej-356	48	235	the	the	DET
alkej-356	48	236	above	above	ADJ
alkej-356	48	237	model	model	NOUN
alkej-356	48	238	is	be	AUX
alkej-356	48	239	taken	take	VERB
alkej-356	48	240	at	at	ADP
alkej-356	48	241	the	the	DET
alkej-356	48	242	equilibrium	equilibrium	NOUN
alkej-356	48	243	points	point	NOUN
alkej-356	48	244	of	of	ADP
alkej-356	48	245	the	the	DET
alkej-356	48	246	following	follow	VERB
alkej-356	48	247	specified	specify	VERB
alkej-356	48	248	values	value	NOUN
alkej-356	48	249	;	;	PUNCT
alkej-356	49	1	ℎ	ℎ	X
alkej-356	49	2	"	"	PUNCT
alkej-356	49	3	=	=	SYM
alkej-356	49	4	0	0	NUM
alkej-356	49	5	,	,	PUNCT
alkej-356	49	6	�	�	X
alkej-356	49	7	"	"	PUNCT
alkej-356	49	8	=	=	SYM
alkej-356	49	9	�	�	PROPN
alkej-356	49	10	�	�	PROPN
alkej-356	49	11	�	�	PROPN
alkej-356	49	12	�	�	PROPN
alkej-356	49	13	�	�	PROPN
alkej-356	49	14	�	�	PROPN
alkej-356	49	15	,	,	PUNCT
alkej-356	49	16	�	�	PROPN
alkej-356	49	17	"	"	PUNCT
alkej-356	49	18	=	=	SYM
alkej-356	49	19	0	0	NUM
alkej-356	50	1	therefore	therefore	ADV
alkej-356	50	2	,	,	PUNCT
alkej-356	50	3	the	the	DET
alkej-356	50	4	obtained	obtain	VERB
alkej-356	50	5	linearized	linearized	ADJ
alkej-356	50	6	model	model	NOUN
alkej-356	50	7	can	can	AUX
alkej-356	50	8	be	be	AUX
alkej-356	50	9	written	write	VERB
alkej-356	50	10	as	as	ADP
alkej-356	50	11	;	;	PUNCT
alkej-356	50	12	'	'	PUNCT
alkej-356	50	13	�	�	PROPN
alkej-356	50	14	�	�	PROPN
alkej-356	50	15	�	�	PROPN
alkej-356	50	16	�	�	PROPN
alkej-356	50	17	=	=	PUNCT
alkej-356	50	18	*	*	PUNCT
alkej-356	50	19	−	−	PROPN
alkej-356	50	20	�	�	PROPN
alkej-356	50	21	�	�	PROPN
alkej-356	50	22	−	−	PROPN
alkej-356	50	23	�	�	PROPN
alkej-356	50	24	�	�	PROPN
alkej-356	50	25	�	�	PROPN
alkej-356	50	26	�	�	PROPN
alkej-356	50	27	�	�	PROPN
alkej-356	50	28	�	�	PROPN
alkej-356	50	29	0	0	NUM
alkej-356	50	30	−	−	NUM
alkej-356	50	31	�	�	PROPN
alkej-356	50	32	�	�	PROPN
alkej-356	50	33	+	+	CCONJ
alkej-356	50	34	'	'	PUNCT
alkej-356	50	35	�	�	PROPN
alkej-356	50	36	�	�	PROPN
alkej-356	50	37	�	�	PROPN
alkej-356	50	38	+	+	SYM
alkej-356	50	39	,	,	PUNCT
alkej-356	50	40	10	10	NUM
alkej-356	50	41	01	01	NUM
alkej-356	50	42	�	�	PROPN
alkej-356	50	43	�	�	PROPN
alkej-356	51	1	⁄	⁄	PROPN
alkej-356	51	2	(	(	PUNCT
alkej-356	51	3	1	1	NUM
alkej-356	51	4	�	�	PROPN
alkej-356	51	5	�	�	PROPN
alkej-356	51	6	�	�	PROPN
alkej-356	51	7	2	2	NUM
alkej-356	51	8	�	�	PROPN
alkej-356	51	9	�	�	NOUN
alkej-356	51	10	�	�	PROPN
alkej-356	51	11	=	=	SYM
alkej-356	51	12	.1	.1	NUM
alkej-356	51	13	00	00	PUNCT
alkej-356	52	1	1/	1/	NUM
alkej-356	52	2	'	'	SYM
alkej-356	52	3	�	�	PROPN
alkej-356	52	4	�	�	PROPN
alkej-356	52	5	�	�	PROPN
alkej-356	52	6	+	+	CCONJ
alkej-356	52	7	…	…	PUNCT
alkej-356	52	8	(	(	PUNCT
alkej-356	52	9	5	5	NUM
alkej-356	52	10	)	)	PUNCT
alkej-356	52	11	where	where	SCONJ
alkej-356	52	12	(	(	PUNCT
alkej-356	52	13	1	1	NUM
alkej-356	52	14	�	�	NOUN
alkej-356	52	15	�	�	PROPN
alkej-356	52	16	�	�	PROPN
alkej-356	52	17	=	=	SYM
alkej-356	52	18	3ℎ	3ℎ	NUM
alkej-356	52	19	�	�	PROPN
alkej-356	52	20	�	�	PROPN
alkej-356	52	21	�	�	PROPN
alkej-356	52	22	(	(	PUNCT
alkej-356	52	23	�	�	PROPN
alkej-356	52	24	�	�	PROPN
alkej-356	52	25	�	�	PROPN
alkej-356	52	26	45	45	NUM
alkej-356	52	27	.	.	PUNCT
alkej-356	52	28	equation(5	equation(5	PROPN
alkej-356	52	29	)	)	PUNCT
alkej-356	52	30	can	can	AUX
alkej-356	52	31	be	be	AUX
alkej-356	52	32	written	write	VERB
alkej-356	52	33	in	in	ADP
alkej-356	52	34	compact	compact	ADJ
alkej-356	52	35	form	form	NOUN
alkej-356	52	36	as	as	ADP
alkej-356	52	37	;	;	PUNCT
alkej-356	52	38	'	'	PUNCT
alkej-356	52	39	�	�	PROPN
alkej-356	52	40	�	�	PROPN
alkej-356	52	41	�	�	PROPN
alkej-356	52	42	�	�	PROPN
alkej-356	52	43	=	=	SYM
alkej-356	52	44	6	6	NUM
alkej-356	52	45	'	'	NUM
alkej-356	52	46	�	�	PROPN
alkej-356	52	47	�	�	PROPN
alkej-356	52	48	�	�	PROPN
alkej-356	52	49	+	+	CCONJ
alkej-356	52	50	7	7	NUM
alkej-356	52	51	(	(	PUNCT
alkej-356	52	52	�	�	PROPN
alkej-356	52	53	�	�	PROPN
alkej-356	52	54	�	�	PROPN
alkej-356	52	55	…	…	PUNCT
alkej-356	52	56	(	(	PUNCT
alkej-356	52	57	6	6	NUM
alkej-356	52	58	)	)	SYM
alkej-356	52	59	2	2	NUM
alkej-356	52	60	�	�	PROPN
alkej-356	52	61	�	�	NOUN
alkej-356	52	62	�	�	PROPN
alkej-356	52	63	=	=	SYM
alkej-356	52	64	8	8	NUM
alkej-356	52	65	'	'	NUM
alkej-356	52	66	�	�	PROPN
alkej-356	52	67	�	�	PROPN
alkej-356	52	68	�	�	PROPN
alkej-356	52	69	it	it	PRON
alkej-356	52	70	is	be	AUX
alkej-356	52	71	easily	easily	ADV
alkej-356	52	72	to	to	PART
alkej-356	52	73	show	show	VERB
alkej-356	52	74	that	that	SCONJ
alkej-356	52	75	the	the	DET
alkej-356	52	76	linearized	linearize	VERB
alkej-356	52	77	model	model	NOUN
alkej-356	52	78	is	be	AUX
alkej-356	52	79	completely	completely	ADV
alkej-356	52	80	controllable	controllable	ADJ
alkej-356	52	81	.	.	PUNCT
alkej-356	53	1	3	3	X
alkej-356	53	2	.	.	X
alkej-356	53	3	controller	controller	NOUN
alkej-356	53	4	design	design	VERB
alkej-356	53	5	four	four	NUM
alkej-356	53	6	structures	structure	NOUN
alkej-356	53	7	of	of	ADP
alkej-356	53	8	advanced	advanced	ADJ
alkej-356	53	9	controllers	controller	NOUN
alkej-356	53	10	will	will	AUX
alkej-356	53	11	be	be	AUX
alkej-356	53	12	presented	present	VERB
alkej-356	53	13	and	and	CCONJ
alkej-356	53	14	designed	design	VERB
alkej-356	53	15	here	here	ADV
alkej-356	53	16	for	for	ADP
alkej-356	53	17	controlling	control	VERB
alkej-356	53	18	the	the	DET
alkej-356	53	19	glucose	glucose	NOUN
alkej-356	53	20	level	level	NOUN
alkej-356	53	21	in	in	ADP
alkej-356	53	22	human	human	ADJ
alkej-356	53	23	blood	blood	NOUN
alkej-356	53	24	under	under	ADP
alkej-356	53	25	meal	meal	NOUN
alkej-356	53	26	disturbance	disturbance	NOUN
alkej-356	53	27	.	.	PUNCT
alkej-356	54	1	later	later	ADV
alkej-356	54	2	,	,	PUNCT
alkej-356	54	3	the	the	DET
alkej-356	54	4	performance	performance	NOUN
alkej-356	54	5	of	of	ADP
alkej-356	54	6	such	such	ADJ
alkej-356	54	7	controllers	controller	NOUN
alkej-356	54	8	will	will	AUX
alkej-356	54	9	be	be	AUX
alkej-356	54	10	verified	verify	VERB
alkej-356	54	11	and	and	CCONJ
alkej-356	54	12	compared	compare	VERB
alkej-356	54	13	to	to	ADP
alkej-356	54	14	each	each	DET
alkej-356	54	15	other	other	ADJ
alkej-356	54	16	using	use	VERB
alkej-356	54	17	matlab	matlab	PROPN
alkej-356	54	18	/	/	SYM
alkej-356	54	19	sumlink	sumlink	NOUN
alkej-356	54	20	.	.	PUNCT
alkej-356	55	1	3.1	3.1	NUM
alkej-356	55	2	.	.	X
alkej-356	55	3	sliding	slide	VERB
alkej-356	55	4	mode	mode	NOUN
alkej-356	55	5	controller	controller	NOUN
alkej-356	55	6	sliding	slide	VERB
alkej-356	55	7	mode	mode	NOUN
alkej-356	55	8	control	control	NOUN
alkej-356	55	9	is	be	AUX
alkej-356	55	10	a	a	DET
alkej-356	55	11	discontinuous	discontinuous	ADJ
alkej-356	55	12	feedback	feedback	NOUN
alkej-356	55	13	control	control	NOUN
alkej-356	55	14	forces	force	VERB
alkej-356	55	15	the	the	DET
alkej-356	55	16	system	system	NOUN
alkej-356	55	17	states	state	VERB
alkej-356	55	18	to	to	PART
alkej-356	55	19	reach	reach	VERB
alkej-356	55	20	and	and	CCONJ
alkej-356	55	21	remain	remain	VERB
alkej-356	55	22	on	on	ADP
alkej-356	55	23	a	a	DET
alkej-356	55	24	specific	specific	ADJ
alkej-356	55	25	surface	surface	NOUN
alkej-356	55	26	within	within	ADP
alkej-356	55	27	the	the	DET
alkej-356	55	28	state	state	NOUN
alkej-356	55	29	space	space	NOUN
alkej-356	55	30	(	(	PUNCT
alkej-356	55	31	called	call	VERB
alkej-356	55	32	sliding	slide	VERB
alkej-356	55	33	surface	surface	NOUN
alkej-356	55	34	)	)	PUNCT
alkej-356	55	35	.	.	PUNCT
alkej-356	56	1	the	the	DET
alkej-356	56	2	first	first	ADJ
alkej-356	56	3	stage	stage	NOUN
alkej-356	56	4	of	of	ADP
alkej-356	56	5	design	design	NOUN
alkej-356	56	6	is	be	AUX
alkej-356	56	7	the	the	DET
alkej-356	56	8	selection	selection	NOUN
alkej-356	56	9	of	of	ADP
alkej-356	56	10	the	the	DET
alkej-356	56	11	discontinuity	discontinuity	NOUN
alkej-356	56	12	surface	surface	NOUN
alkej-356	56	13	such	such	ADJ
alkej-356	56	14	that	that	SCONJ
alkej-356	56	15	sliding	slide	VERB
alkej-356	56	16	motion	motion	NOUN
alkej-356	56	17	would	would	AUX
alkej-356	56	18	exhibit	exhibit	VERB
alkej-356	56	19	desired	desire	VERB
alkej-356	56	20	properties	property	NOUN
alkej-356	56	21	.	.	PUNCT
alkej-356	57	1	let	let	VERB
alkej-356	57	2	us	we	PRON
alkej-356	57	3	define	define	VERB
alkej-356	57	4	a	a	DET
alkej-356	57	5	surface	surface	NOUN
alkej-356	57	6	9	9	NUM
alkej-356	57	7	in	in	ADP
alkej-356	57	8	the	the	DET
alkej-356	57	9	state	state	NOUN
alkej-356	57	10	space	space	NOUN
alkej-356	57	11	as	as	SCONJ
alkej-356	57	12	follows	follow	VERB
alkej-356	57	13	[	[	X
alkej-356	57	14	16	16	NUM
alkej-356	57	15	,	,	PUNCT
alkej-356	57	16	17	17	NUM
alkej-356	57	17	]	]	PUNCT
alkej-356	57	18	;	;	PUNCT
alkej-356	57	19	9	9	NUM
alkej-356	57	20	=	=	SYM
alkej-356	57	21	'	'	PUNCT
alkej-356	57	22	�	�	PROPN
alkej-356	57	23	+	+	CCONJ
alkej-356	57	24	:	:	PUNCT
alkej-356	57	25	'	'	PUNCT
alkej-356	57	26	�	�	INTJ
alkej-356	57	27	…	…	PUNCT
alkej-356	57	28	(	(	PUNCT
alkej-356	57	29	7	7	NUM
alkej-356	57	30	)	)	PUNCT
alkej-356	57	31	if	if	SCONJ
alkej-356	57	32	a	a	DET
alkej-356	57	33	controller	controller	NOUN
alkej-356	57	34	(	(	PUNCT
alkej-356	57	35	was	be	AUX
alkej-356	57	36	designed	design	VERB
alkej-356	57	37	to	to	PART
alkej-356	57	38	make	make	VERB
alkej-356	57	39	the	the	DET
alkej-356	57	40	system	system	NOUN
alkej-356	57	41	trajectories	trajectory	NOUN
alkej-356	57	42	head	head	VERB
alkej-356	57	43	to	to	ADP
alkej-356	57	44	the	the	DET
alkej-356	57	45	surface	surface	NOUN
alkej-356	57	46	9	9	NUM
alkej-356	57	47	=	=	SYM
alkej-356	57	48	0	0	NUM
alkej-356	57	49	,	,	PUNCT
alkej-356	57	50	then	then	ADV
alkej-356	57	51	eq.(7	eq.(7	NOUN
alkej-356	57	52	)	)	PUNCT
alkej-356	57	53	can	can	AUX
alkej-356	57	54	be	be	AUX
alkej-356	57	55	written	write	VERB
alkej-356	57	56	as	as	ADP
alkej-356	57	57	,	,	PUNCT
alkej-356	57	58	'	'	PUNCT
alkej-356	57	59	�	�	PROPN
alkej-356	57	60	+	+	CCONJ
alkej-356	57	61	:	:	PUNCT
alkej-356	57	62	'	'	PUNCT
alkej-356	57	63	�	�	PROPN
alkej-356	57	64	=	=	SYM
alkej-356	57	65	0	0	NUM
alkej-356	57	66	…	…	PUNCT
alkej-356	57	67	(	(	PUNCT
alkej-356	57	68	8)	8)	NUM
alkej-356	57	69	from	from	ADP
alkej-356	57	70	eq	eq	ADP
alkej-356	57	71	.	.	PUNCT
alkej-356	58	1	(	(	PUNCT
alkej-356	58	2	5	5	NUM
alkej-356	58	3	)	)	PUNCT
alkej-356	58	4	,	,	PUNCT
alkej-356	58	5	one	one	PRON
alkej-356	58	6	can	can	AUX
alkej-356	58	7	find	find	VERB
alkej-356	58	8	that	that	SCONJ
alkej-356	58	9	'	'	PUNCT
alkej-356	58	10	�	�	PROPN
alkej-356	58	11	�	�	PROPN
alkej-356	58	12	=	=	PUNCT
alkej-356	58	13	−	−	PROPN
alkej-356	58	14	�	�	PROPN
alkej-356	58	15	�	�	NOUN
alkej-356	58	16	'	'	PART
alkej-356	58	17	�	�	PROPN
alkej-356	58	18	−	−	PROPN
alkej-356	58	19	�	�	PROPN
alkej-356	58	20	�	�	PROPN
alkej-356	58	21	�	�	PROPN
alkej-356	58	22	�	�	PROPN
alkej-356	58	23	�	�	PROPN
alkej-356	58	24	�	�	PROPN
alkej-356	58	25	�	�	PROPN
alkej-356	58	26	⁄	⁄	PROPN
alkej-356	58	27	�	�	PROPN
alkej-356	58	28	'	'	PART
alkej-356	58	29	�	�	PROPN
alkej-356	58	30	…	…	PUNCT
alkej-356	58	31	(	(	PUNCT
alkej-356	58	32	9	9	X
alkej-356	58	33	)	)	PUNCT
alkej-356	58	34	rearranging	rearrange	VERB
alkej-356	58	35	the	the	DET
alkej-356	58	36	above	above	ADJ
alkej-356	58	37	equation	equation	NOUN
alkej-356	58	38	results	result	NOUN
alkej-356	58	39	in	in	ADP
alkej-356	58	40	'	'	PUNCT
alkej-356	58	41	�	�	PROPN
alkej-356	58	42	=	=	SYM
alkej-356	58	43	−	−	PROPN
alkej-356	58	44	�	�	PROPN
alkej-356	58	45	�	�	PROPN
alkej-356	58	46	�	�	PROPN
alkej-356	58	47	�	�	PROPN
alkej-356	58	48	�	�	PROPN
alkej-356	58	49	'	'	PART
alkej-356	58	50	�	�	PROPN
alkej-356	58	51	+	+	CCONJ
alkej-356	58	52	'	'	PUNCT
alkej-356	58	53	�	�	PROPN
alkej-356	58	54	�	�	PROPN
alkej-356	58	55	�	�	PROPN
alkej-356	58	56	�	�	PROPN
alkej-356	58	57	�	�	PROPN
alkej-356	58	58	�	�	PROPN
alkej-356	58	59	�	�	PROPN
alkej-356	58	60	�	�	PROPN
alkej-356	58	61	�	�	PROPN
alkej-356	58	62	⁄	⁄	PROPN
alkej-356	58	63	…	…	PUNCT
alkej-356	58	64	(	(	PUNCT
alkej-356	58	65	10	10	NUM
alkej-356	58	66	)	)	PUNCT
alkej-356	58	67	substituting	substitute	VERB
alkej-356	58	68	'	'	PUNCT
alkej-356	58	69	�	�	PROPN
alkej-356	58	70	from	from	ADP
alkej-356	58	71	the	the	DET
alkej-356	58	72	above	above	ADJ
alkej-356	58	73	equation	equation	NOUN
alkej-356	58	74	into	into	ADP
alkej-356	58	75	eq.(8	eq.(8	ADJ
alkej-356	58	76	)	)	PUNCT
alkej-356	58	77	results	result	NOUN
alkej-356	58	78	in	in	ADP
alkej-356	58	79	−	−	PROPN
alkej-356	58	80	�	�	PROPN
alkej-356	58	81	�	�	PROPN
alkej-356	58	82	�	�	PROPN
alkej-356	58	83	�	�	PROPN
alkej-356	58	84	�	�	PROPN
alkej-356	58	85	'	'	PART
alkej-356	58	86	�	�	PROPN
alkej-356	58	87	+	+	CCONJ
alkej-356	58	88	'	'	PUNCT
alkej-356	58	89	�	�	PROPN
alkej-356	58	90	�	�	PROPN
alkej-356	58	91	�	�	PROPN
alkej-356	58	92	�	�	PROPN
alkej-356	58	93	�	�	PROPN
alkej-356	58	94	�	�	PROPN
alkej-356	58	95	�	�	PROPN
alkej-356	58	96	�	�	PROPN
alkej-356	58	97	�	�	PROPN
alkej-356	58	98	⁄	⁄	PROPN
alkej-356	58	99	+	+	CCONJ
alkej-356	58	100	:	:	PUNCT
alkej-356	58	101	'	'	PUNCT
alkej-356	58	102	�	�	PROPN
alkej-356	58	103	=	=	SYM
alkej-356	58	104	0	0	NUM
alkej-356	58	105	…	…	PUNCT
alkej-356	58	106	(	(	PUNCT
alkej-356	58	107	11	11	NUM
alkej-356	58	108	)	)	PUNCT
alkej-356	58	109	or	or	CCONJ
alkej-356	58	110	,	,	PUNCT
alkej-356	58	111	'	'	PUNCT
alkej-356	58	112	�	�	PROPN
alkej-356	58	113	�	�	PROPN
alkej-356	58	114	+	+	CCONJ
alkej-356	58	115	�	�	PROPN
alkej-356	58	116	�	�	PROPN
alkej-356	58	117	�	�	PROPN
alkej-356	58	118	−	−	PROPN
alkej-356	58	119	:	:	PUNCT
alkej-356	58	120	�	�	PROPN
alkej-356	58	121	�	�	PROPN
alkej-356	58	122	�	�	PROPN
alkej-356	58	123	�	�	PROPN
alkej-356	58	124	�	�	PROPN
alkej-356	58	125	�	�	PROPN
alkej-356	58	126	⁄	⁄	PROPN
alkej-356	58	127	�	�	PROPN
alkej-356	58	128	'	'	PART
alkej-356	58	129	�	�	PROPN
alkej-356	58	130	=	=	SYM
alkej-356	58	131	0	0	NUM
alkej-356	58	132	…	…	PUNCT
alkej-356	58	133	(	(	PUNCT
alkej-356	58	134	12	12	NUM
alkej-356	58	135	)	)	PUNCT
alkej-356	58	136	the	the	DET
alkej-356	58	137	time	time	NOUN
alkej-356	58	138	solution	solution	NOUN
alkej-356	58	139	for	for	ADP
alkej-356	58	140	the	the	DET
alkej-356	58	141	equation	equation	NOUN
alkej-356	58	142	above	above	ADV
alkej-356	58	143	is	be	AUX
alkej-356	58	144	written	write	VERB
alkej-356	58	145	as	as	ADP
alkej-356	58	146	'	'	PUNCT
alkej-356	58	147	�	�	PROPN
alkej-356	58	148	=	=	SYM
alkej-356	58	149	'	'	PUNCT
alkej-356	58	150	�	�	PROPN
alkej-356	58	151	�	�	PROPN
alkej-356	58	152	0	0	NUM
alkej-356	58	153	�	�	PROPN
alkej-356	58	154	;<	;<	NOUN
alkej-356	58	155	�	�	NOUN
alkej-356	58	156	=	=	PROPN
alkej-356	58	157	>	>	X
alkej-356	58	158	<	<	X
alkej-356	58	159	?	?	PUNCT
alkej-356	59	1	@a	@a	X
alkej-356	60	1	=	=	NOUN
alkej-356	60	2	b	b	NOUN
alkej-356	60	3	=	=	SYM
alkej-356	60	4	c⁄	c⁄	X
alkej-356	60	5	�	�	PROPN
alkej-356	60	6	1	1	NUM
alkej-356	60	7	…	…	PUNCT
alkej-356	60	8	(	(	PUNCT
alkej-356	60	9	13	13	NUM
alkej-356	60	10	)	)	PUNCT
alkej-356	60	11	such	such	ADJ
alkej-356	60	12	that	that	SCONJ
alkej-356	60	13	�	�	PROPN
alkej-356	60	14	�	�	PROPN
alkej-356	60	15	�	�	PROPN
alkej-356	60	16	−	−	PROPN
alkej-356	60	17	:	:	PUNCT
alkej-356	60	18	�	�	PROPN
alkej-356	60	19	�	�	PROPN
alkej-356	60	20	�	�	PROPN
alkej-356	60	21	�	�	PROPN
alkej-356	60	22	�	�	PROPN
alkej-356	60	23	�	�	PROPN
alkej-356	60	24	⁄	⁄	PROPN
alkej-356	60	25	�	�	PROPN
alkej-356	60	26	d	d	PROPN
alkej-356	60	27	0	0	PROPN
alkej-356	60	28	.	.	PUNCT
alkej-356	61	1	equation	equation	NOUN
alkej-356	61	2	(	(	PUNCT
alkej-356	61	3	13	13	NUM
alkej-356	61	4	)	)	PUNCT
alkej-356	61	5	shows	show	VERB
alkej-356	61	6	that	that	SCONJ
alkej-356	61	7	if	if	SCONJ
alkej-356	61	8	the	the	DET
alkej-356	61	9	state	state	NOUN
alkej-356	61	10	trajectories	trajectory	NOUN
alkej-356	61	11	are	be	AUX
alkej-356	61	12	forced	force	VERB
alkej-356	61	13	to	to	PART
alkej-356	61	14	move	move	VERB
alkej-356	61	15	on	on	ADP
alkej-356	61	16	surface	surface	NOUN
alkej-356	61	17	9	9	NUM
alkej-356	61	18	=	=	SYM
alkej-356	61	19	0	0	NUM
alkej-356	61	20	,	,	PUNCT
alkej-356	61	21	then	then	ADV
alkej-356	61	22	'	'	PUNCT
alkej-356	61	23	�	�	PROPN
alkej-356	61	24	will	will	AUX
alkej-356	61	25	tend	tend	VERB
alkej-356	61	26	to	to	PART
alkej-356	61	27	zero	zero	NUM
alkej-356	61	28	exponentially	exponentially	ADV
alkej-356	61	29	after	after	ADP
alkej-356	61	30	a	a	DET
alkej-356	61	31	finite	finite	ADJ
alkej-356	61	32	time	time	NOUN
alkej-356	61	33	interval	interval	NOUN
alkej-356	61	34	or	or	CCONJ
alkej-356	61	35	one	one	PRON
alkej-356	61	36	can	can	AUX
alkej-356	61	37	say	say	VERB
alkej-356	61	38	,	,	PUNCT
alkej-356	61	39	'	'	PUNCT
alkej-356	61	40	�	�	PROPN
alkej-356	61	41	�	�	PROPN
alkej-356	61	42	�	�	PROPN
alkej-356	61	43	=	=	SYM
alkej-356	61	44	∞	∞	PROPN
alkej-356	61	45	�	�	PROPN
alkej-356	61	46	=	=	SYM
alkej-356	61	47	0	0	NUM
alkej-356	61	48	→	→	SYM
alkej-356	61	49	�	�	PROPN
alkej-356	61	50	�	�	PROPN
alkej-356	61	51	�	�	PROPN
alkej-356	61	52	�	�	PROPN
alkej-356	61	53	=	=	SYM
alkej-356	61	54	0	0	NUM
alkej-356	61	55	...	...	PUNCT
alkej-356	61	56	(	(	PUNCT
alkej-356	61	57	14	14	NUM
alkej-356	61	58	)	)	PUNCT
alkej-356	61	59	to	to	PART
alkej-356	61	60	ensure	ensure	VERB
alkej-356	61	61	that	that	SCONJ
alkej-356	61	62	the	the	DET
alkej-356	61	63	state	state	NOUN
alkej-356	61	64	trajectories	trajectory	NOUN
alkej-356	61	65	will	will	AUX
alkej-356	61	66	head	head	VERB
alkej-356	61	67	toward	toward	ADP
alkej-356	61	68	the	the	DET
alkej-356	61	69	surface	surface	NOUN
alkej-356	61	70	9	9	NUM
alkej-356	61	71	=	=	SYM
alkej-356	61	72	0	0	NUM
alkej-356	61	73	,	,	PUNCT
alkej-356	61	74	the	the	DET
alkej-356	61	75	following	follow	VERB
alkej-356	61	76	reaching	reach	VERB
alkej-356	61	77	condition	condition	NOUN
alkej-356	61	78	should	should	AUX
alkej-356	61	79	be	be	AUX
alkej-356	61	80	fulfilled	fulfil	VERB
alkej-356	61	81	99	99	NUM
alkej-356	61	82	�	�	PROPN
alkej-356	61	83	g	g	PROPN
alkej-356	61	84	0	0	NUM
alkej-356	61	85	…	…	PUNCT
alkej-356	61	86	(	(	PUNCT
alkej-356	61	87	15	15	NUM
alkej-356	61	88	)	)	PUNCT
alkej-356	61	89	since	since	SCONJ
alkej-356	61	90	9	9	NUM
alkej-356	61	91	�	�	NOUN
alkej-356	61	92	=	=	SYM
alkej-356	61	93	'	'	PUNCT
alkej-356	61	94	�	�	PROPN
alkej-356	61	95	�	�	PROPN
alkej-356	61	96	+	+	CCONJ
alkej-356	61	97	:	:	PUNCT
alkej-356	61	98	'	'	PUNCT
alkej-356	61	99	�	�	PROPN
alkej-356	61	100	�	�	PROPN
alkej-356	61	101	,	,	PUNCT
alkej-356	61	102	then	then	ADV
alkej-356	61	103	99	99	NUM
alkej-356	61	104	�	�	NOUN
alkej-356	61	105	=	=	NOUN
alkej-356	61	106	9	9	NUM
alkej-356	61	107	3	3	NUM
alkej-356	61	108	'	'	NUM
alkej-356	61	109	�	�	NOUN
alkej-356	61	110	�	�	PROPN
alkej-356	61	111	+	+	CCONJ
alkej-356	61	112	:	:	PUNCT
alkej-356	61	113	'	'	PUNCT
alkej-356	61	114	�	�	NOUN
alkej-356	61	115	�	�	NOUN
alkej-356	61	116	4	4	NUM
alkej-356	61	117	=	=	SYM
alkej-356	61	118	9	9	NUM
alkej-356	61	119	3−	3−	NUM
alkej-356	61	120	�	�	NOUN
alkej-356	61	121	�	�	NOUN
alkej-356	61	122	'	'	PART
alkej-356	61	123	�	�	PROPN
alkej-356	61	124	+	+	CCONJ
alkej-356	61	125	(	(	PUNCT
alkej-356	61	126	�	�	PROPN
alkej-356	61	127	�	�	PROPN
alkej-356	61	128	�	�	PROPN
alkej-356	61	129	�	�	PROPN
alkej-356	61	130	�	�	PROPN
alkej-356	61	131	⁄	⁄	PROPN
alkej-356	61	132	−	−	PROPN
alkej-356	61	133	�	�	PROPN
alkej-356	61	134	�	�	PROPN
alkej-356	61	135	'	'	PART
alkej-356	61	136	�	�	PROPN
alkej-356	61	137	−	−	PROPN
alkej-356	61	138	�	�	PROPN
alkej-356	61	139	�	�	PROPN
alkej-356	61	140	�	�	PROPN
alkej-356	61	141	�	�	PROPN
alkej-356	61	142	�	�	PROPN
alkej-356	61	143	�	�	PROPN
alkej-356	61	144	⁄	⁄	PROPN
alkej-356	61	145	'	'	NUM
alkej-356	61	146	�	�	PROPN
alkej-356	61	147	+	+	CCONJ
alkej-356	61	148	ℎ	ℎ	PROPN
alkej-356	61	149	�	�	PROPN
alkej-356	61	150	�	�	NOUN
alkej-356	61	151	�	�	PROPN
alkej-356	61	152	4	4	NUM
alkej-356	61	153	…	…	PUNCT
alkej-356	61	154	(	(	PUNCT
alkej-356	61	155	16	16	NUM
alkej-356	61	156	)	)	PUNCT
alkej-356	61	157	if	if	SCONJ
alkej-356	61	158	one	one	PRON
alkej-356	61	159	assumes	assume	VERB
alkej-356	61	160	that	that	SCONJ
alkej-356	61	161	the	the	DET
alkej-356	61	162	control	control	NOUN
alkej-356	61	163	defined	define	VERB
alkej-356	61	164	as	as	ADP
alkej-356	61	165	a	a	DET
alkej-356	61	166	discontinuous	discontinuous	ADJ
alkej-356	61	167	function	function	NOUN
alkej-356	61	168	for	for	ADP
alkej-356	61	169	the	the	DET
alkej-356	61	170	surface	surface	NOUN
alkej-356	61	171	9	9	NUM
alkej-356	61	172	as	as	ADP
alkej-356	61	173	below	below	ADV
alkej-356	61	174	(	(	PUNCT
alkej-356	61	175	�	�	PROPN
alkej-356	61	176	�	�	PROPN
alkej-356	61	177	�	�	PROPN
alkej-356	61	178	=	=	SYM
alkej-356	61	179	−h	−h	ADJ
alkej-356	61	180	∗	∗	NOUN
alkej-356	61	181	9	9	NUM
alkej-356	61	182	�	�	PROPN
alkej-356	61	183	�	�	PROPN
alkej-356	61	184	�	�	PROPN
alkej-356	61	185	9	9	NUM
alkej-356	61	186	�	�	NOUN
alkej-356	61	187	…	…	PUNCT
alkej-356	61	188	(	(	PUNCT
alkej-356	61	189	17	17	NUM
alkej-356	61	190	)	)	PUNCT
alkej-356	61	191	substituting	substitute	VERB
alkej-356	61	192	for	for	ADP
alkej-356	61	193	the	the	DET
alkej-356	61	194	control	control	NOUN
alkej-356	61	195	(	(	PUNCT
alkej-356	61	196	�	�	PROPN
alkej-356	61	197	�	�	PROPN
alkej-356	61	198	�	�	PROPN
alkej-356	61	199	in	in	ADP
alkej-356	61	200	eq.(16	eq.(16	NOUN
alkej-356	61	201	)	)	PUNCT
alkej-356	61	202	,	,	PUNCT
alkej-356	61	203	we	we	PRON
alkej-356	61	204	have	have	VERB
alkej-356	61	205	99	99	NUM
alkej-356	61	206	�	�	NOUN
alkej-356	61	207	=	=	PUNCT
alkej-356	61	208	−	−	PROPN
alkej-356	61	209	�	�	PROPN
alkej-356	61	210	�	�	NOUN
alkej-356	61	211	9	9	NUM
alkej-356	61	212	'	'	PRON
alkej-356	61	213	�	�	NOUN
alkej-356	61	214	−	−	PROPN
alkej-356	61	215	h	h	NOUN
alkej-356	62	1	9	9	NUM
alkej-356	62	2	9	9	NUM
alkej-356	62	3	�	�	PROPN
alkej-356	62	4	�	�	PROPN
alkej-356	62	5	�	�	PROPN
alkej-356	62	6	9	9	NUM
alkej-356	62	7	�	�	PROPN
alkej-356	62	8	�	�	PROPN
alkej-356	62	9	�	�	PROPN
alkej-356	62	10	⁄	⁄	PROPN
alkej-356	62	11	−	−	PROPN
alkej-356	62	12	�	�	NOUN
alkej-356	62	13	�	�	NOUN
alkej-356	62	14	9	9	NUM
alkej-356	62	15	'	'	PRON
alkej-356	62	16	�	�	PROPN
alkej-356	62	17	−	−	PROPN
alkej-356	62	18	�	�	PROPN
alkej-356	62	19	�	�	PROPN
alkej-356	62	20	�	�	PROPN
alkej-356	62	21	�	�	PROPN
alkej-356	62	22	�	�	PROPN
alkej-356	62	23	⁄	⁄	PROPN
alkej-356	62	24	�	�	PROPN
alkej-356	62	25	9	9	NUM
alkej-356	62	26	'	'	NOUN
alkej-356	62	27	�	�	NOUN
alkej-356	62	28	+	+	CCONJ
alkej-356	62	29	9	9	NUM
alkej-356	62	30	ℎ	ℎ	PROPN
alkej-356	62	31	�	�	PROPN
alkej-356	62	32	�	�	PROPN
alkej-356	62	33	�	�	PROPN
alkej-356	62	34	…	…	PUNCT
alkej-356	62	35	(	(	PUNCT
alkej-356	62	36	18	18	NUM
alkej-356	62	37	)	)	PUNCT
alkej-356	63	1	using	use	VERB
alkej-356	63	2	the	the	DET
alkej-356	63	3	fact	fact	NOUN
alkej-356	63	4	that	that	SCONJ
alkej-356	63	5	9	9	NUM
alkej-356	63	6	∗	∗	NOUN
alkej-356	63	7	9	9	NUM
alkej-356	63	8	�	�	PROPN
alkej-356	63	9	�	�	PROPN
alkej-356	63	10	�	�	PROPN
alkej-356	63	11	9	9	NUM
alkej-356	63	12	�	�	NOUN
alkej-356	63	13	=	=	SYM
alkej-356	63	14	|9|	|9|	PROPN
alkej-356	63	15	and	and	CCONJ
alkej-356	63	16	from	from	ADP
alkej-356	63	17	linear	linear	PROPN
alkej-356	63	18	algebra	algebra	PROPN
alkej-356	63	19	,	,	PUNCT
alkej-356	63	20	the	the	DET
alkej-356	63	21	inequality	inequality	NOUN
alkej-356	63	22	kl	kl	PROPN
alkej-356	63	23	m	m	PROPN
alkej-356	63	24	|k||l|	|k||l|	NOUN
alkej-356	63	25	holds	hold	NOUN
alkej-356	63	26	and	and	CCONJ
alkej-356	63	27	results	result	NOUN
alkej-356	63	28	in	in	ADP
alkej-356	63	29	the	the	DET
alkej-356	63	30	following	following	NOUN
alkej-356	63	31	;	;	PUNCT
alkej-356	63	32	99	99	NUM
alkej-356	63	33	�	�	PROPN
alkej-356	63	34	m	m	VERB
alkej-356	63	35	|9|	|9|	NOUN
alkej-356	63	36	n|	n|	PROPN
alkej-356	63	37	�	�	PROPN
alkej-356	63	38	�	�	PROPN
alkej-356	63	39	||'	||'	PROPN
alkej-356	63	40	�	�	PROPN
alkej-356	63	41	|	|	ADV
alkej-356	63	42	−	−	PROPN
alkej-356	63	43	h	h	PROPN
alkej-356	63	44	�	�	PROPN
alkej-356	63	45	�	�	PROPN
alkej-356	63	46	⁄	⁄	PROPN
alkej-356	63	47	+	+	CCONJ
alkej-356	63	48	|	|	NUM
alkej-356	63	49	�	�	PROPN
alkej-356	63	50	�	�	PROPN
alkej-356	63	51	||'	||'	PROPN
alkej-356	63	52	�	�	PROPN
alkej-356	63	53	|	|	NOUN
alkej-356	63	54	+	+	NOUN
alkej-356	63	55	|	|	ADJ
alkej-356	63	56	�	�	PROPN
alkej-356	63	57	�	�	PROPN
alkej-356	63	58	�	�	PROPN
alkej-356	63	59	�	�	PROPN
alkej-356	63	60	⁄	⁄	PROPN
alkej-356	63	61	|	|	NOUN
alkej-356	63	62	'	'	PUNCT
alkej-356	63	63	�	�	PROPN
alkej-356	63	64	+	+	CCONJ
alkej-356	63	65	|ℎ	|ℎ	PROPN
alkej-356	63	66	�	�	PROPN
alkej-356	63	67	�	�	PROPN
alkej-356	63	68	�	�	PROPN
alkej-356	63	69	|o	|o	ADJ
alkej-356	63	70	g	g	PROPN
alkej-356	63	71	0	0	NUM
alkej-356	63	72	…	…	PUNCT
alkej-356	63	73	(	(	PUNCT
alkej-356	63	74	19	19	NUM
alkej-356	63	75	)	)	PUNCT
alkej-356	63	76	solving	solve	VERB
alkej-356	63	77	for	for	ADP
alkej-356	63	78	h	h	NOUN
alkej-356	63	79	,	,	PUNCT
alkej-356	63	80	we	we	PRON
alkej-356	63	81	have	have	VERB
alkej-356	63	82	h	h	PROPN
alkej-356	63	83	d	d	PROPN
alkej-356	63	84	�	�	PROPN
alkej-356	63	85	�	�	PROPN
alkej-356	63	86	n|	n|	PROPN
alkej-356	63	87	�	�	PROPN
alkej-356	63	88	�	�	PROPN
alkej-356	63	89	||'	||'	PROPN
alkej-356	63	90	�	�	PROPN
alkej-356	63	91	|	|	NOUN
alkej-356	63	92	+	+	CCONJ
alkej-356	63	93	|	|	ADJ
alkej-356	63	94	�	�	PROPN
alkej-356	63	95	�	�	PROPN
alkej-356	63	96	||'	||'	PROPN
alkej-356	63	97	�	�	PROPN
alkej-356	63	98	|	|	NOUN
alkej-356	64	1	+	+	CCONJ
alkej-356	64	2	|	|	ADJ
alkej-356	64	3	�	�	PROPN
alkej-356	64	4	�	�	PROPN
alkej-356	64	5	�	�	PROPN
alkej-356	64	6	�	�	PROPN
alkej-356	64	7	⁄	⁄	PROPN
alkej-356	64	8	|	|	NOUN
alkej-356	64	9	'	'	PUNCT
alkej-356	64	10	�	�	PROPN
alkej-356	65	1	+	+	NOUN
alkej-356	65	2	|ℎ	|ℎ	PROPN
alkej-356	65	3	�	�	SYM
alkej-356	65	4	�	�	PROPN
alkej-356	65	5	�	�	PROPN
alkej-356	65	6	|pqro	|pqro	NOUN
alkej-356	65	7	…	…	PUNCT
alkej-356	65	8	(	(	PUNCT
alkej-356	65	9	20	20	NUM
alkej-356	65	10	)	)	PUNCT
alkej-356	65	11	3.2	3.2	NUM
alkej-356	65	12	.	.	PUNCT
alkej-356	66	1	integral	integral	ADJ
alkej-356	66	2	sliding	slide	VERB
alkej-356	66	3	mode	mode	NOUN
alkej-356	66	4	control	control	NOUN
alkej-356	66	5	for	for	ADP
alkej-356	66	6	disturbance	disturbance	NOUN
alkej-356	66	7	rejection	rejection	NOUN
alkej-356	66	8	in	in	ADP
alkej-356	66	9	what	what	PRON
alkej-356	66	10	follows	follow	VERB
alkej-356	66	11	,	,	PUNCT
alkej-356	66	12	integral	integral	ADJ
alkej-356	66	13	sliding	slide	VERB
alkej-356	66	14	mode	mode	NOUN
alkej-356	66	15	controller	controller	NOUN
alkej-356	66	16	is	be	AUX
alkej-356	66	17	designed	design	VERB
alkej-356	66	18	for	for	ADP
alkej-356	66	19	control	control	NOUN
alkej-356	66	20	and	and	CCONJ
alkej-356	66	21	disturbance	disturbance	NOUN
alkej-356	66	22	rejection	rejection	NOUN
alkej-356	66	23	of	of	ADP
alkej-356	66	24	glucose	glucose	NOUN
alkej-356	66	25	systems	system	NOUN
alkej-356	66	26	.	.	PUNCT
alkej-356	67	1	starting	start	VERB
alkej-356	67	2	with	with	ADP
alkej-356	67	3	rewriting	rewrite	VERB
alkej-356	67	4	the	the	DET
alkej-356	67	5	control	control	NOUN
alkej-356	67	6	law	law	NOUN
alkej-356	67	7	as	as	SCONJ
alkej-356	67	8	follows	follow	VERB
alkej-356	67	9	,	,	PUNCT
alkej-356	67	10	(	(	PUNCT
alkej-356	67	11	=	=	SYM
alkej-356	67	12	(	(	PUNCT
alkej-356	67	13	&	&	CCONJ
alkej-356	67	14	+	+	CCONJ
alkej-356	67	15	(	(	PUNCT
alkej-356	67	16	�	�	PROPN
alkej-356	67	17	…	…	PUNCT
alkej-356	67	18	(	(	PUNCT
alkej-356	67	19	21	21	NUM
alkej-356	67	20	)	)	PUNCT
alkej-356	67	21	where	where	SCONJ
alkej-356	67	22	(	(	PUNCT
alkej-356	67	23	&	&	CCONJ
alkej-356	67	24	is	be	AUX
alkej-356	67	25	designed	design	VERB
alkej-356	67	26	to	to	PART
alkej-356	67	27	make	make	VERB
alkej-356	67	28	the	the	DET
alkej-356	67	29	system	system	NOUN
alkej-356	67	30	follows	follow	VERB
alkej-356	67	31	a	a	DET
alkej-356	67	32	specified	specified	ADJ
alkej-356	67	33	trajectory	trajectory	NOUN
alkej-356	67	34	'	'	NOUN
alkej-356	67	35	&	&	CCONJ
alkej-356	67	36	in	in	ADP
alkej-356	67	37	the	the	DET
alkej-356	67	38	state	state	NOUN
alkej-356	67	39	space	space	NOUN
alkej-356	67	40	which	which	PRON
alkej-356	67	41	is	be	AUX
alkej-356	67	42	based	base	VERB
alkej-356	67	43	on	on	ADP
alkej-356	67	44	optimal	optimal	ADJ
alkej-356	67	45	lqr	lqr	NOUN
alkej-356	67	46	controller	controller	NOUN
alkej-356	67	47	,	,	PUNCT
alkej-356	67	48	while	while	SCONJ
alkej-356	67	49	the	the	DET
alkej-356	67	50	design	design	NOUN
alkej-356	67	51	of	of	ADP
alkej-356	67	52	(	(	PUNCT
alkej-356	67	53	�	�	PROPN
alkej-356	67	54	is	be	AUX
alkej-356	67	55	dedicated	dedicate	VERB
alkej-356	67	56	to	to	PART
alkej-356	67	57	cancel	cancel	VERB
alkej-356	67	58	the	the	DET
alkej-356	67	59	disturbance	disturbance	NOUN
alkej-356	67	60	ℎ	ℎ	PROPN
alkej-356	67	61	�	�	PROPN
alkej-356	67	62	�	�	PROPN
alkej-356	67	63	�	�	PROPN
alkej-356	67	64	.	.	PUNCT
alkej-356	68	1	rewriting	rewrite	VERB
alkej-356	68	2	eq.(4	eq.(4	ADV
alkej-356	68	3	)	)	PUNCT
alkej-356	68	4	by	by	ADP
alkej-356	68	5	separating	separate	VERB
alkej-356	68	6	the	the	DET
alkej-356	68	7	control	control	NOUN
alkej-356	68	8	input	input	PROPN
alkej-356	68	9	�	�	PROPN
alkej-356	68	10	�	�	PROPN
alkej-356	68	11	�	�	PROPN
alkej-356	68	12	�	�	PROPN
alkej-356	68	13	from	from	ADP
alkej-356	68	14	disturbance	disturbance	NOUN
alkej-356	68	15	ℎ	ℎ	PROPN
alkej-356	68	16	�	�	PROPN
alkej-356	68	17	�	�	PROPN
alkej-356	68	18	�	�	PROPN
alkej-356	68	19	and	and	CCONJ
alkej-356	68	20	then	then	ADV
alkej-356	68	21	substituting	substitute	VERB
alkej-356	68	22	the	the	DET
alkej-356	68	23	control	control	NOUN
alkej-356	68	24	signal	signal	NOUN
alkej-356	68	25	from	from	ADP
alkej-356	68	26	eq.(21	eq.(21	NOUN
alkej-356	68	27	)	)	PUNCT
alkej-356	68	28	to	to	PART
alkej-356	68	29	have	have	VERB
alkej-356	68	30	;	;	PUNCT
alkej-356	68	31	)	)	PUNCT
alkej-356	68	32	�	�	PROPN
alkej-356	68	33	=	=	SYM
alkej-356	68	34	6	6	NUM
alkej-356	68	35	'	'	NUM
alkej-356	68	36	�	�	PROPN
alkej-356	68	37	�	�	PROPN
alkej-356	68	38	�	�	PROPN
alkej-356	68	39	+	+	CCONJ
alkej-356	68	40	7s	7	NOUN
alkej-356	68	41	(	(	PUNCT
alkej-356	68	42	&	&	CCONJ
alkej-356	68	43	�	�	PROPN
alkej-356	68	44	�	�	PROPN
alkej-356	68	45	�	�	PROPN
alkej-356	68	46	+	+	CCONJ
alkej-356	68	47	7s	7	NOUN
alkej-356	68	48	(	(	PUNCT
alkej-356	68	49	�	�	PROPN
alkej-356	68	50	�	�	PROPN
alkej-356	68	51	�	�	PROPN
alkej-356	68	52	�	�	PROPN
alkej-356	68	53	+	+	NUM
alkej-356	68	54	t	t	PROPN
alkej-356	68	55	ℎ	ℎ	PROPN
alkej-356	68	56	�	�	PROPN
alkej-356	68	57	�	�	PROPN
alkej-356	68	58	�	�	PROPN
alkej-356	68	59	…	…	PUNCT
alkej-356	68	60	(	(	PUNCT
alkej-356	68	61	21	21	NUM
alkej-356	68	62	)	)	PUNCT
alkej-356	68	63	wheret	wheret	NOUN
alkej-356	68	64	=	=	NOUN
alkej-356	68	65	31	31	NUM
alkej-356	68	66	045	045	NUM
alkej-356	68	67	and	and	CCONJ
alkej-356	68	68	7s	7	NOUN
alkej-356	68	69	=	=	SYM
alkej-356	68	70	30	30	NUM
alkej-356	68	71	1	1	NUM
alkej-356	68	72	�	�	PROPN
alkej-356	68	73	�	�	PROPN
alkej-356	68	74	⁄	⁄	ADP
alkej-356	68	75	45	45	NUM
alkej-356	68	76	.	.	PUNCT
alkej-356	69	1	bashar	bashar	PROPN
alkej-356	69	2	fateh	fateh	PROPN
alkej-356	69	3	midhat	midhat	PROPN
alkej-356	69	4	al	al	PROPN
alkej-356	69	5	-	-	PUNCT
alkej-356	69	6	khwarizmi	khwarizmi	PROPN
alkej-356	69	7	engineering	engineering	NOUN
alkej-356	69	8	journal	journal	PROPN
alkej-356	69	9	,	,	PUNCT
alkej-356	69	10	vol	vol	NOUN
alkej-356	69	11	.	.	PROPN
alkej-356	69	12	13	13	NUM
alkej-356	69	13	,	,	PUNCT
alkej-356	69	14	no	no	INTJ
alkej-356	69	15	.	.	NOUN
alkej-356	69	16	3	3	NUM
alkej-356	69	17	,	,	PUNCT
alkej-356	69	18	p.p	p.p	PROPN
alkej-356	69	19	.	.	NOUN
alkej-356	69	20	5563	5563	NUM
alkej-356	69	21	(	(	PUNCT
alkej-356	69	22	2017	2017	NUM
alkej-356	69	23	)	)	PUNCT
alkej-356	69	24	58	58	NUM
alkej-356	69	25	the	the	DET
alkej-356	69	26	first	first	ADJ
alkej-356	69	27	stage	stage	NOUN
alkej-356	69	28	of	of	ADP
alkej-356	69	29	design	design	NOUN
alkej-356	69	30	is	be	AUX
alkej-356	69	31	to	to	PART
alkej-356	69	32	select	select	VERB
alkej-356	69	33	the	the	DET
alkej-356	69	34	discontinuity	discontinuity	NOUN
alkej-356	69	35	surface	surface	NOUN
alkej-356	69	36	9	9	NUM
alkej-356	69	37	such	such	ADJ
alkej-356	69	38	that	that	SCONJ
alkej-356	69	39	sliding	slide	VERB
alkej-356	69	40	motion	motion	NOUN
alkej-356	69	41	would	would	AUX
alkej-356	69	42	exhibit	exhibit	VERB
alkej-356	69	43	desired	desire	VERB
alkej-356	69	44	properties	property	NOUN
alkej-356	69	45	.	.	PUNCT
alkej-356	70	1	the	the	DET
alkej-356	70	2	surface	surface	NOUN
alkej-356	70	3	9	9	NUM
alkej-356	70	4	is	be	AUX
alkej-356	70	5	defined	define	VERB
alkej-356	70	6	in	in	ADP
alkej-356	70	7	the	the	DET
alkej-356	70	8	state	state	NOUN
alkej-356	70	9	space	space	NOUN
alkej-356	70	10	as	as	SCONJ
alkej-356	70	11	follows	follow	VERB
alkej-356	70	12	9	9	NUM
alkej-356	70	13	=	=	SYM
alkej-356	70	14	9	9	NUM
alkej-356	70	15	&	&	CCONJ
alkej-356	70	16	+	+	CCONJ
alkej-356	70	17	u	u	NOUN
alkej-356	70	18	…	…	PUNCT
alkej-356	70	19	(	(	PUNCT
alkej-356	70	20	22	22	NUM
alkej-356	70	21	)	)	PUNCT
alkej-356	70	22	whereu	whereu	NOUN
alkej-356	70	23	represents	represent	VERB
alkej-356	70	24	the	the	DET
alkej-356	70	25	integral	integral	ADJ
alkej-356	70	26	part	part	NOUN
alkej-356	70	27	which	which	PRON
alkej-356	70	28	cancels	cancel	VERB
alkej-356	70	29	the	the	DET
alkej-356	70	30	disturbance	disturbance	NOUN
alkej-356	70	31	and	and	CCONJ
alkej-356	70	32	9	9	NUM
alkej-356	70	33	&	&	CCONJ
alkej-356	70	34	represent	represent	VERB
alkej-356	70	35	the	the	DET
alkej-356	70	36	desired	desire	VERB
alkej-356	70	37	path	path	NOUN
alkej-356	70	38	in	in	ADP
alkej-356	70	39	the	the	DET
alkej-356	70	40	state	state	NOUN
alkej-356	70	41	space	space	NOUN
alkej-356	70	42	given	give	VERB
alkej-356	70	43	by	by	ADP
alkej-356	70	44	9	9	NUM
alkej-356	70	45	&	&	CCONJ
alkej-356	70	46	=	=	SYM
alkej-356	70	47	8	8	NUM
alkej-356	70	48	'	'	NUM
alkej-356	70	49	…	…	PUNCT
alkej-356	70	50	(	(	PUNCT
alkej-356	70	51	23	23	NUM
alkej-356	70	52	)	)	PUNCT
alkej-356	70	53	in	in	ADP
alkej-356	70	54	order	order	NOUN
alkej-356	70	55	to	to	PART
alkej-356	70	56	keep	keep	VERB
alkej-356	70	57	the	the	DET
alkej-356	70	58	system	system	NOUN
alkej-356	70	59	on	on	ADP
alkej-356	70	60	the	the	DET
alkej-356	70	61	specified	specified	ADJ
alkej-356	70	62	trajectory	trajectory	NOUN
alkej-356	70	63	9	9	NUM
alkej-356	70	64	&	&	CCONJ
alkej-356	70	65	the	the	DET
alkej-356	70	66	time	time	NOUN
alkej-356	70	67	derivative	derivative	NOUN
alkej-356	70	68	of	of	ADP
alkej-356	70	69	the	the	DET
alkej-356	70	70	surface	surface	NOUN
alkej-356	70	71	9	9	NUM
alkej-356	70	72	should	should	AUX
alkej-356	70	73	equal	equal	VERB
alkej-356	70	74	zero	zero	NUM
alkej-356	70	75	.	.	PUNCT
alkej-356	71	1	in	in	ADP
alkej-356	71	2	other	other	ADJ
alkej-356	71	3	words	word	NOUN
alkej-356	71	4	,	,	PUNCT
alkej-356	71	5	the	the	DET
alkej-356	71	6	system	system	NOUN
alkej-356	71	7	trajectory	trajectory	NOUN
alkej-356	71	8	will	will	AUX
alkej-356	71	9	not	not	PART
alkej-356	71	10	leave	leave	VERB
alkej-356	71	11	the	the	DET
alkej-356	71	12	surface	surface	NOUN
alkej-356	71	13	9	9	NUM
alkej-356	71	14	&	&	CCONJ
alkej-356	71	15	.	.	PUNCT
alkej-356	72	1	9	9	NUM
alkej-356	72	2	�	�	NOUN
alkej-356	72	3	=	=	SYM
alkej-356	72	4	9	9	NUM
alkej-356	72	5	�	�	PROPN
alkej-356	72	6	&	&	CCONJ
alkej-356	72	7	+	+	CCONJ
alkej-356	72	8	u	u	NOUN
alkej-356	72	9	�	�	X
alkej-356	72	10	=	=	SYM
alkej-356	72	11	0	0	NUM
alkej-356	72	12	=	=	SYM
alkej-356	72	13	8	8	NUM
alkej-356	72	14	'	'	NUM
alkej-356	72	15	�	�	PROPN
alkej-356	72	16	+	+	CCONJ
alkej-356	72	17	u	u	NOUN
alkej-356	72	18	�	�	X
alkej-356	72	19	=	=	SYM
alkej-356	72	20	0	0	NUM
alkej-356	72	21	…	…	PUNCT
alkej-356	72	22	(	(	PUNCT
alkej-356	72	23	24	24	NUM
alkej-356	72	24	)	)	PUNCT
alkej-356	72	25	or	or	CCONJ
alkej-356	72	26	,	,	PUNCT
alkej-356	72	27	9	9	NUM
alkej-356	72	28	�	�	NOUN
alkej-356	72	29	=	=	SYM
alkej-356	72	30	836	836	NUM
alkej-356	72	31	'	'	NUM
alkej-356	72	32	�	�	PROPN
alkej-356	72	33	�	�	PROPN
alkej-356	72	34	�	�	PROPN
alkej-356	72	35	+	+	CCONJ
alkej-356	72	36	7s	7	NOUN
alkej-356	72	37	(	(	PUNCT
alkej-356	72	38	&	&	CCONJ
alkej-356	72	39	�	�	PROPN
alkej-356	72	40	�	�	PROPN
alkej-356	72	41	�	�	PROPN
alkej-356	72	42	+	+	CCONJ
alkej-356	72	43	7s	7	NOUN
alkej-356	72	44	(	(	PUNCT
alkej-356	72	45	�	�	PROPN
alkej-356	72	46	�	�	PROPN
alkej-356	72	47	�	�	PROPN
alkej-356	72	48	�	�	PROPN
alkej-356	72	49	+	+	NUM
alkej-356	72	50	t	t	PROPN
alkej-356	72	51	ℎ	ℎ	PROPN
alkej-356	72	52	�	�	PROPN
alkej-356	72	53	�	�	PROPN
alkej-356	72	54	�	�	NOUN
alkej-356	72	55	4	4	NUM
alkej-356	72	56	+	+	SYM
alkej-356	72	57	u	u	NOUN
alkej-356	72	58	�	�	X
alkej-356	72	59	=	=	SYM
alkej-356	72	60	0	0	NUM
alkej-356	72	61	…	…	PUNCT
alkej-356	72	62	(	(	PUNCT
alkej-356	72	63	25	25	NUM
alkej-356	72	64	)	)	PUNCT
alkej-356	72	65	in	in	ADP
alkej-356	72	66	order	order	NOUN
alkej-356	72	67	to	to	PART
alkej-356	72	68	ensure	ensure	VERB
alkej-356	73	1	that	that	SCONJ
alkej-356	73	2	9	9	NUM
alkej-356	73	3	�	�	PROPN
alkej-356	73	4	�	�	NOUN
alkej-356	73	5	�	�	PROPN
alkej-356	73	6	=	=	SYM
alkej-356	73	7	9	9	NUM
alkej-356	73	8	&	&	CCONJ
alkej-356	73	9	�	�	PROPN
alkej-356	73	10	�	�	PROPN
alkej-356	73	11	�	�	PROPN
alkej-356	73	12	for	for	ADP
alkej-356	73	13	all	all	DET
alkej-356	73	14	�	�	PROPN
alkej-356	73	15	d	d	ADP
alkej-356	73	16	0	0	NUM
alkej-356	74	1	the	the	DET
alkej-356	74	2	following	follow	VERB
alkej-356	74	3	condition	condition	NOUN
alkej-356	74	4	should	should	AUX
alkej-356	74	5	be	be	AUX
alkej-356	74	6	fulfilled7s	fulfilled7s	PROPN
alkej-356	74	7	(	(	PUNCT
alkej-356	74	8	�	�	PROPN
alkej-356	74	9	�	�	PROPN
alkej-356	74	10	�	�	PROPN
alkej-356	74	11	�	�	PROPN
alkej-356	74	12	=	=	PUNCT
alkej-356	74	13	−t	−t	PROPN
alkej-356	74	14	ℎ	ℎ	PROPN
alkej-356	74	15	�	�	PROPN
alkej-356	74	16	�	�	PROPN
alkej-356	74	17	�	�	PROPN
alkej-356	74	18	…	…	PUNCT
alkej-356	74	19	(	(	PUNCT
alkej-356	74	20	26	26	NUM
alkej-356	74	21	)	)	PUNCT
alkej-356	74	22	substitute	substitute	NOUN
alkej-356	74	23	in	in	ADP
alkej-356	74	24	9	9	NUM
alkej-356	74	25	�	�	NOUN
alkej-356	74	26	we	we	PRON
alkej-356	74	27	get	get	VERB
alkej-356	74	28	u	u	NOUN
alkej-356	74	29	�	�	X
alkej-356	74	30	=	=	SYM
alkej-356	75	1	−8	−8	X
alkej-356	75	2	36	36	NUM
alkej-356	75	3	'	'	NUM
alkej-356	75	4	�	�	PROPN
alkej-356	75	5	�	�	PROPN
alkej-356	75	6	�	�	PROPN
alkej-356	75	7	+	+	CCONJ
alkej-356	75	8	7s(&	7s(&	NUM
alkej-356	75	9	�	�	NOUN
alkej-356	75	10	�	�	NOUN
alkej-356	75	11	�	�	PROPN
alkej-356	75	12	4	4	NUM
alkej-356	75	13	…	…	PUNCT
alkej-356	75	14	(	(	PUNCT
alkej-356	75	15	27	27	NUM
alkej-356	75	16	)	)	PUNCT
alkej-356	75	17	or	or	CCONJ
alkej-356	75	18	,	,	PUNCT
alkej-356	75	19	u	u	NOUN
alkej-356	75	20	=	=	NOUN
alkej-356	75	21	−8	−8	X
alkej-356	75	22	v	v	NUM
alkej-356	75	23	36	36	NUM
alkej-356	75	24	)	)	PUNCT
alkej-356	75	25	�	�	PROPN
alkej-356	75	26	�	�	PROPN
alkej-356	75	27	�	�	PROPN
alkej-356	75	28	+	+	CCONJ
alkej-356	75	29	7s(&	7s(&	NUM
alkej-356	75	30	�	�	NOUN
alkej-356	75	31	�	�	PROPN
alkej-356	75	32	�	�	PROPN
alkej-356	75	33	411w	411w	PROPN
alkej-356	75	34	�	�	PROPN
alkej-356	75	35	�	�	PROPN
alkej-356	75	36	…	…	PUNCT
alkej-356	75	37	(	(	PUNCT
alkej-356	75	38	28	28	NUM
alkej-356	75	39	)	)	PUNCT
alkej-356	75	40	thus	thus	ADV
alkej-356	75	41	,	,	PUNCT
alkej-356	75	42	substitution	substitution	NOUN
alkej-356	75	43	for	for	ADP
alkej-356	75	44	u	u	NOUN
alkej-356	75	45	is	be	AUX
alkej-356	75	46	the	the	DET
alkej-356	75	47	surface	surface	NOUN
alkej-356	75	48	equation	equation	NOUN
alkej-356	75	49	9	9	NUM
alkej-356	75	50	will	will	AUX
alkej-356	75	51	ensure	ensure	VERB
alkej-356	75	52	that	that	SCONJ
alkej-356	75	53	the	the	DET
alkej-356	75	54	system	system	NOUN
alkej-356	75	55	trajectories	trajectory	NOUN
alkej-356	75	56	will	will	AUX
alkej-356	75	57	remain	remain	VERB
alkej-356	75	58	on	on	ADP
alkej-356	75	59	the	the	DET
alkej-356	75	60	surface	surface	NOUN
alkej-356	75	61	9	9	NUM
alkej-356	75	62	even	even	ADV
alkej-356	75	63	under	under	ADP
alkej-356	75	64	external	external	ADJ
alkej-356	75	65	disturbances	disturbance	NOUN
alkej-356	75	66	.	.	PUNCT
alkej-356	76	1	if	if	SCONJ
alkej-356	76	2	(	(	PUNCT
alkej-356	76	3	�	�	PROPN
alkej-356	76	4	considered	consider	VERB
alkej-356	76	5	to	to	PART
alkej-356	76	6	be	be	AUX
alkej-356	76	7	a	a	DET
alkej-356	76	8	nonlinear	nonlinear	ADJ
alkej-356	76	9	function	function	NOUN
alkej-356	76	10	,	,	PUNCT
alkej-356	76	11	then	then	ADV
alkej-356	76	12	(	(	PUNCT
alkej-356	76	13	�	�	NOUN
alkej-356	76	14	=	=	SYM
alkej-356	76	15	−h	−h	NOUN
alkej-356	76	16	�	�	PROPN
alkej-356	76	17	9	9	NUM
alkej-356	76	18	�	�	PROPN
alkej-356	76	19	�	�	PROPN
alkej-356	76	20	�	�	PROPN
alkej-356	76	21	9	9	NUM
alkej-356	76	22	�	�	NOUN
alkej-356	76	23	…	…	PUNCT
alkej-356	76	24	(	(	PUNCT
alkej-356	76	25	29	29	NUM
alkej-356	76	26	)	)	PUNCT
alkej-356	76	27	whereh	whereh	NOUN
alkej-356	76	28	�	�	PROPN
alkej-356	76	29	is	be	AUX
alkej-356	76	30	the	the	DET
alkej-356	76	31	discontinuous	discontinuous	ADJ
alkej-356	76	32	controller	controller	NOUN
alkej-356	76	33	gain	gain	NOUN
alkej-356	76	34	.	.	PUNCT
alkej-356	77	1	the	the	DET
alkej-356	77	2	final	final	ADJ
alkej-356	77	3	control	control	NOUN
alkej-356	77	4	law	law	NOUN
alkej-356	77	5	can	can	AUX
alkej-356	77	6	be	be	AUX
alkej-356	77	7	rewritten	rewrite	VERB
alkej-356	77	8	as	as	SCONJ
alkej-356	77	9	follows	follow	VERB
alkej-356	77	10	;	;	PUNCT
alkej-356	77	11	(	(	PUNCT
alkej-356	77	12	=	=	SYM
alkej-356	77	13	(	(	PUNCT
alkej-356	77	14	&	&	CCONJ
alkej-356	77	15	+	+	CCONJ
alkej-356	77	16	(	(	PUNCT
alkej-356	77	17	�	�	PROPN
alkej-356	77	18	(	(	PUNCT
alkej-356	77	19	=	=	NOUN
alkej-356	77	20	−x	−x	NOUN
alkej-356	77	21	'	'	PUNCT
alkej-356	77	22	−	−	PROPN
alkej-356	77	23	h	h	PROPN
alkej-356	77	24	�	�	PROPN
alkej-356	77	25	9	9	NUM
alkej-356	77	26	�	�	PROPN
alkej-356	77	27	�	�	PROPN
alkej-356	77	28	�	�	PROPN
alkej-356	77	29	9	9	NUM
alkej-356	77	30	�	�	NOUN
alkej-356	77	31	…	…	PUNCT
alkej-356	77	32	(	(	PUNCT
alkej-356	77	33	30	30	NUM
alkej-356	77	34	)	)	PUNCT
alkej-356	77	35	to	to	PART
alkej-356	77	36	ensure	ensure	VERB
alkej-356	77	37	that	that	SCONJ
alkej-356	77	38	9	9	NUM
alkej-356	77	39	�	�	NOUN
alkej-356	77	40	=	=	SYM
alkej-356	77	41	0	0	NUM
alkej-356	77	42	for	for	ADP
alkej-356	77	43	∀	∀	NUM
alkej-356	77	44	�	�	PROPN
alkej-356	77	45	≥	≥	NOUN
alkej-356	77	46	0	0	NUM
alkej-356	77	47	in	in	ADP
alkej-356	77	48	eq.(25	eq.(25	NOUN
alkej-356	77	49	)	)	PUNCT
alkej-356	77	50	,	,	PUNCT
alkej-356	77	51	the	the	DET
alkej-356	77	52	following	follow	VERB
alkej-356	77	53	condition	condition	NOUN
alkej-356	77	54	has	have	VERB
alkej-356	77	55	to	to	PART
alkej-356	77	56	be	be	AUX
alkej-356	77	57	satisfied	satisfied	ADJ
alkej-356	77	58	87s	87	NOUN
alkej-356	77	59	(	(	PUNCT
alkej-356	77	60	�	�	PROPN
alkej-356	77	61	�	�	PROPN
alkej-356	77	62	�	�	PROPN
alkej-356	77	63	�	�	PROPN
alkej-356	77	64	=	=	SYM
alkej-356	78	1	−8	−8	PROPN
alkej-356	78	2	t	t	PROPN
alkej-356	78	3	ℎ	ℎ	PROPN
alkej-356	78	4	�	�	PROPN
alkej-356	78	5	�	�	PROPN
alkej-356	78	6	�	�	PROPN
alkej-356	78	7	…	…	PUNCT
alkej-356	78	8	(	(	PUNCT
alkej-356	78	9	31	31	NUM
alkej-356	78	10	)	)	PUNCT
alkej-356	78	11	multiplying	multiply	VERB
alkej-356	78	12	out	out	ADP
alkej-356	78	13	the	the	DET
alkej-356	78	14	matrices	matrix	NOUN
alkej-356	78	15	in	in	ADP
alkej-356	78	16	the	the	DET
alkej-356	78	17	above	above	ADJ
alkej-356	78	18	equation	equation	NOUN
alkej-356	78	19	results	result	VERB
alkej-356	78	20	in	in	ADP
alkej-356	78	21	,	,	PUNCT
alkej-356	78	22	−	−	PROPN
alkej-356	78	23	h	h	PROPN
alkej-356	78	24	�	�	PROPN
alkej-356	78	25	9	9	NUM
alkej-356	78	26	�	�	PROPN
alkej-356	78	27	�	�	PROPN
alkej-356	78	28	�	�	PROPN
alkej-356	78	29	9	9	NUM
alkej-356	78	30	�	�	PROPN
alkej-356	78	31	�	�	PROPN
alkej-356	78	32	�	�	PROPN
alkej-356	78	33	⁄	⁄	NOUN
alkej-356	78	34	=	=	SYM
alkej-356	78	35	ℎ	ℎ	PROPN
alkej-356	78	36	�	�	PROPN
alkej-356	78	37	�	�	PROPN
alkej-356	78	38	�	�	PROPN
alkej-356	78	39	…	…	PUNCT
alkej-356	78	40	(	(	PUNCT
alkej-356	78	41	32	32	NUM
alkej-356	78	42	)	)	PUNCT
alkej-356	78	43	taking	take	VERB
alkej-356	78	44	the	the	DET
alkej-356	78	45	worst	bad	ADJ
alkej-356	78	46	case	case	NOUN
alkej-356	78	47	disturbance	disturbance	NOUN
alkej-356	78	48	ℎ	ℎ	PROPN
alkej-356	78	49	�	�	PROPN
alkej-356	78	50	�	�	PROPN
alkej-356	78	51	�	�	PROPN
alkej-356	78	52	pqr	pqr	PROPN
alkej-356	78	53	,	,	PUNCT
alkej-356	78	54	the	the	DET
alkej-356	78	55	integral	integral	ADJ
alkej-356	78	56	sliding	slide	VERB
alkej-356	78	57	mode	mode	NOUN
alkej-356	78	58	gain	gain	NOUN
alkej-356	78	59	h	h	NOUN
alkej-356	78	60	�	�	PROPN
alkej-356	78	61	can	can	AUX
alkej-356	78	62	be	be	AUX
alkej-356	78	63	evaluated	evaluate	VERB
alkej-356	78	64	as	as	SCONJ
alkej-356	78	65	follows	follow	VERB
alkej-356	78	66	h	h	PROPN
alkej-356	78	67	�	�	PROPN
alkej-356	78	68	≥	≥	PROPN
alkej-356	78	69	�	�	PROPN
alkej-356	78	70	�	�	PROPN
alkej-356	78	71	ℎ	ℎ	PROPN
alkej-356	78	72	�	�	PROPN
alkej-356	78	73	�	�	PROPN
alkej-356	78	74	�	�	PROPN
alkej-356	78	75	[\	[\	X
alkej-356	78	76	]	]	X
alkej-356	78	77	…	…	PUNCT
alkej-356	78	78	(	(	PUNCT
alkej-356	78	79	33	33	NUM
alkej-356	78	80	)	)	PUNCT
alkej-356	78	81	3.3	3.3	NUM
alkej-356	78	82	.	.	PUNCT
alkej-356	79	1	optimal	optimal	ADJ
alkej-356	79	2	lqr	lqr	PROPN
alkej-356	79	3	control	control	VERB
alkej-356	79	4	the	the	DET
alkej-356	79	5	requirement	requirement	NOUN
alkej-356	79	6	of	of	ADP
alkej-356	79	7	classical	classical	ADJ
alkej-356	79	8	lq	lq	NOUN
alkej-356	79	9	control	control	NOUN
alkej-356	79	10	method	method	NOUN
alkej-356	79	11	is	be	AUX
alkej-356	79	12	to	to	PART
alkej-356	79	13	minimize	minimize	VERB
alkej-356	79	14	the	the	DET
alkej-356	79	15	following	follow	VERB
alkej-356	79	16	quadratic	quadratic	ADJ
alkej-356	79	17	cost	cost	NOUN
alkej-356	79	18	functional	functional	ADJ
alkej-356	79	19	:	:	PUNCT
alkej-356	79	20	^	^	SYM
alkej-356	79	21	�	�	PROPN
alkej-356	79	22	(	(	PUNCT
alkej-356	79	23	�	�	PROPN
alkej-356	79	24	�	�	PROPN
alkej-356	79	25	�	�	PROPN
alkej-356	79	26	�	�	PROPN
alkej-356	79	27	=	=	SYM
alkej-356	79	28	�	�	PROPN
alkej-356	79	29	�	�	PROPN
alkej-356	79	30	v	v	ADP
alkej-356	79	31	n25	n25	PROPN
alkej-356	79	32	_	_	PROPN
alkej-356	79	33	2	2	NUM
alkej-356	79	34	�	�	PROPN
alkej-356	79	35	&	&	CCONJ
alkej-356	79	36	+	+	CCONJ
alkej-356	79	37	(	(	PUNCT
alkej-356	79	38	5	5	NUM
alkej-356	79	39	`	`	PUNCT
alkej-356	79	40	(	(	PUNCT
alkej-356	79	41	o	o	PROPN
alkej-356	79	42	�	�	PROPN
alkej-356	79	43	�	�	PROPN
alkej-356	79	44	…	…	PUNCT
alkej-356	79	45	(	(	PUNCT
alkej-356	79	46	34	34	NUM
alkej-356	79	47	)	)	PUNCT
alkej-356	79	48	the	the	DET
alkej-356	79	49	classical	classical	ADJ
alkej-356	79	50	lq	lq	NOUN
alkej-356	79	51	attempts	attempt	NOUN
alkej-356	79	52	to	to	PART
alkej-356	79	53	find	find	VERB
alkej-356	79	54	an	an	DET
alkej-356	79	55	optimal	optimal	ADJ
alkej-356	79	56	(	(	PUNCT
alkej-356	79	57	∗	∗	PROPN
alkej-356	79	58	�	�	PROPN
alkej-356	79	59	�	�	PROPN
alkej-356	79	60	�	�	PROPN
alkej-356	79	61	,	,	PUNCT
alkej-356	79	62	�	�	PROPN
alkej-356	79	63	∈	∈	PROPN
alkej-356	79	64	30	30	NUM
alkej-356	79	65	,	,	PUNCT
alkej-356	79	66	∞4	∞4	ADP
alkej-356	79	67	such	such	ADJ
alkej-356	79	68	that	that	SCONJ
alkej-356	79	69	^	^	SYM
alkej-356	79	70	�	�	PROPN
alkej-356	79	71	(∗	(∗	SYM
alkej-356	79	72	�	�	PROPN
alkej-356	79	73	�	�	PROPN
alkej-356	79	74	�	�	PROPN
alkej-356	79	75	�	�	PROPN
alkej-356	79	76	m	m	PROPN
alkej-356	79	77	^	^	SYM
alkej-356	79	78	�	�	PROPN
alkej-356	79	79	(	(	PUNCT
alkej-356	79	80	�	�	PROPN
alkej-356	79	81	�	�	PROPN
alkej-356	79	82	�	�	PROPN
alkej-356	79	83	for	for	ADP
alkej-356	79	84	all	all	PRON
alkej-356	79	85	(	(	PUNCT
alkej-356	79	86	�	�	PROPN
alkej-356	79	87	�	�	PROPN
alkej-356	79	88	�	�	PROPN
alkej-356	79	89	,	,	PUNCT
alkej-356	79	90	�	�	PROPN
alkej-356	79	91	∈	∈	PROPN
alkej-356	79	92	30	30	NUM
alkej-356	79	93	,	,	PUNCT
alkej-356	79	94	∞4	∞4	ADJ
alkej-356	79	95	under	under	ADP
alkej-356	79	96	properly	properly	ADV
alkej-356	79	97	chosen	choose	VERB
alkej-356	79	98	c	c	PROPN
alkej-356	79	99	and	and	CCONJ
alkej-356	79	100	_	_	NOUN
alkej-356	79	101	.	.	PUNCT
alkej-356	80	1	the	the	DET
alkej-356	80	2	matrix	matrix	NOUN
alkej-356	80	3	_	_	PUNCT
alkej-356	80	4	(	(	PUNCT
alkej-356	80	5	n×n	n×n	PROPN
alkej-356	80	6	)	)	PUNCT
alkej-356	80	7	and	and	CCONJ
alkej-356	80	8	`	`	PUNCT
alkej-356	80	9	(	(	PUNCT
alkej-356	80	10	m×m	m×m	ADJ
alkej-356	80	11	)	)	PUNCT
alkej-356	80	12	are	be	AUX
alkej-356	80	13	selected	select	VERB
alkej-356	80	14	by	by	ADP
alkej-356	80	15	the	the	DET
alkej-356	80	16	design	design	NOUN
alkej-356	80	17	engineer	engineer	NOUN
alkej-356	80	18	.	.	PUNCT
alkej-356	81	1	the	the	DET
alkej-356	81	2	first	first	ADJ
alkej-356	81	3	element	element	NOUN
alkej-356	81	4	of	of	ADP
alkej-356	81	5	input	input	NOUN
alkej-356	81	6	vector	vector	NOUN
alkej-356	81	7	is	be	AUX
alkej-356	81	8	the	the	DET
alkej-356	81	9	insulin	insulin	NOUN
alkej-356	81	10	rate	rate	NOUN
alkej-356	81	11	�	�	PROPN
alkej-356	81	12	�	�	PROPN
alkej-356	81	13	�	�	PROPN
alkej-356	81	14	�	�	PROPN
alkej-356	81	15	,	,	PUNCT
alkej-356	81	16	and	and	CCONJ
alkej-356	81	17	the	the	DET
alkej-356	81	18	second	second	ADJ
alkej-356	81	19	element	element	NOUN
alkej-356	81	20	is	be	AUX
alkej-356	81	21	the	the	DET
alkej-356	81	22	exogenous	exogenous	ADJ
alkej-356	81	23	glucose	glucose	NOUN
alkej-356	81	24	ℎ	ℎ	SYM
alkej-356	81	25	�	�	PROPN
alkej-356	81	26	�	�	PROPN
alkej-356	81	27	�	�	PROPN
alkej-356	81	28	which	which	PRON
alkej-356	81	29	stands	stand	VERB
alkej-356	81	30	for	for	ADP
alkej-356	81	31	disturbance	disturbance	NOUN
alkej-356	81	32	.	.	PUNCT
alkej-356	82	1	the	the	DET
alkej-356	82	2	objective	objective	NOUN
alkej-356	82	3	is	be	AUX
alkej-356	82	4	to	to	PART
alkej-356	82	5	minimize	minimize	VERB
alkej-356	82	6	the	the	DET
alkej-356	82	7	effect	effect	NOUN
alkej-356	82	8	of	of	ADP
alkej-356	82	9	disturbance	disturbance	NOUN
alkej-356	82	10	on	on	ADP
alkej-356	82	11	the	the	DET
alkej-356	82	12	output	output	NOUN
alkej-356	82	13	.	.	PUNCT
alkej-356	83	1	however	however	ADV
alkej-356	83	2	,	,	PUNCT
alkej-356	83	3	the	the	DET
alkej-356	83	4	elements	element	NOUN
alkej-356	83	5	of	of	ADP
alkej-356	83	6	diagonal	diagonal	ADJ
alkej-356	83	7	matrix	matrix	NOUN
alkej-356	83	8	c	c	NOUN
alkej-356	83	9	are	be	AUX
alkej-356	83	10	responsible	responsible	ADJ
alkej-356	83	11	for	for	ADP
alkej-356	83	12	overweighting	overweighte	VERB
alkej-356	83	13	and	and	CCONJ
alkej-356	83	14	underweighting	underweighting	NOUN
alkej-356	83	15	of	of	ADP
alkej-356	83	16	the	the	DET
alkej-356	83	17	input	input	NOUN
alkej-356	83	18	elements	element	NOUN
alkej-356	83	19	.	.	PUNCT
alkej-356	84	1	the	the	DET
alkej-356	84	2	first	first	ADJ
alkej-356	84	3	component	component	NOUN
alkej-356	84	4	of	of	ADP
alkej-356	84	5	matrix	matrix	NOUN
alkej-356	84	6	c	c	NOUN
alkej-356	84	7	,	,	PUNCT
alkej-356	84	8	namely	namely	ADV
alkej-356	84	9	c	c	NOUN
alkej-356	84	10	�	�	PROPN
alkej-356	84	11	�	�	PROPN
alkej-356	84	12	,	,	PUNCT
alkej-356	84	13	is	be	AUX
alkej-356	84	14	chosen	choose	VERB
alkej-356	84	15	to	to	PART
alkej-356	84	16	give	give	VERB
alkej-356	84	17	high	high	ADJ
alkej-356	84	18	importance	importance	NOUN
alkej-356	84	19	to	to	ADP
alkej-356	84	20	disturbance	disturbance	NOUN
alkej-356	84	21	input	input	NOUN
alkej-356	84	22	,	,	PUNCT
alkej-356	84	23	ℎ	ℎ	PROPN
alkej-356	84	24	�	�	PROPN
alkej-356	84	25	�	�	PROPN
alkej-356	84	26	�	�	PROPN
alkej-356	84	27	,	,	PUNCT
alkej-356	84	28	while	while	SCONJ
alkej-356	84	29	the	the	DET
alkej-356	84	30	element	element	NOUN
alkej-356	84	31	c	c	PROPN
alkej-356	84	32	�	�	PROPN
alkej-356	84	33	�	�	PROPN
alkej-356	84	34	has	have	VERB
alkej-356	84	35	to	to	PART
alkej-356	84	36	giveless	giveless	VERB
alkej-356	84	37	importanceto	importanceto	ADJ
alkej-356	84	38	insulin	insulin	NOUN
alkej-356	84	39	rate	rate	NOUN
alkej-356	84	40	.	.	PUNCT
alkej-356	85	1	less	less	ADJ
alkej-356	85	2	importance	importance	NOUN
alkej-356	85	3	to	to	ADP
alkej-356	85	4	insulin	insulin	NOUN
alkej-356	85	5	means	mean	NOUN
alkej-356	85	6	that	that	SCONJ
alkej-356	85	7	we	we	PRON
alkej-356	85	8	relief	relief	VERB
alkej-356	85	9	the	the	DET
alkej-356	85	10	constraint	constraint	NOUN
alkej-356	85	11	on	on	ADP
alkej-356	85	12	insulin	insulin	NOUN
alkej-356	85	13	or	or	CCONJ
alkej-356	85	14	permit	permit	VERB
alkej-356	85	15	it	it	PRON
alkej-356	85	16	to	to	PART
alkej-356	85	17	take	take	VERB
alkej-356	85	18	higher	high	ADJ
alkej-356	85	19	level	level	NOUN
alkej-356	85	20	.	.	PUNCT
alkej-356	86	1	therefore	therefore	ADV
alkej-356	86	2	,	,	PUNCT
alkej-356	86	3	high	high	ADJ
alkej-356	86	4	value	value	NOUN
alkej-356	86	5	is	be	AUX
alkej-356	86	6	assigned	assign	VERB
alkej-356	86	7	to	to	ADP
alkej-356	86	8	c	c	PROPN
alkej-356	86	9	�	�	PROPN
alkej-356	86	10	�	�	PROPN
alkej-356	86	11	and	and	CCONJ
alkej-356	86	12	low	low	ADJ
alkej-356	86	13	value	value	NOUN
alkej-356	86	14	is	be	AUX
alkej-356	86	15	assigned	assign	VERB
alkej-356	86	16	to	to	ADP
alkej-356	86	17	c	c	PROPN
alkej-356	86	18	�	�	PROPN
alkej-356	86	19	�	�	PROPN
alkej-356	86	20	.	.	PUNCT
alkej-356	87	1	on	on	ADP
alkej-356	87	2	the	the	DET
alkej-356	87	3	other	other	ADJ
alkej-356	87	4	hand	hand	NOUN
alkej-356	87	5	,	,	PUNCT
alkej-356	87	6	the	the	DET
alkej-356	87	7	elements	element	NOUN
alkej-356	87	8	of	of	ADP
alkej-356	87	9	_	_	PUNCT
alkej-356	87	10	give	give	VERB
alkej-356	87	11	the	the	DET
alkej-356	87	12	weights	weight	NOUN
alkej-356	87	13	on	on	ADP
alkej-356	87	14	system	system	NOUN
alkej-356	87	15	outputs	output	NOUN
alkej-356	87	16	,	,	PUNCT
alkej-356	87	17	plasma	plasma	NOUN
alkej-356	87	18	glucose	glucose	NOUN
alkej-356	87	19	deviation	deviation	NOUN
alkej-356	87	20	and	and	CCONJ
alkej-356	87	21	plasma	plasma	NOUN
alkej-356	87	22	insulin	insulin	NOUN
alkej-356	87	23	deviation	deviation	NOUN
alkej-356	87	24	.	.	PUNCT
alkej-356	88	1	normally	normally	ADV
alkej-356	88	2	in	in	ADP
alkej-356	88	3	this	this	DET
alkej-356	88	4	application	application	NOUN
alkej-356	88	5	,	,	PUNCT
alkej-356	88	6	the	the	DET
alkej-356	88	7	same	same	ADJ
alkej-356	88	8	weight	weight	NOUN
alkej-356	88	9	is	be	AUX
alkej-356	88	10	given	give	VERB
alkej-356	88	11	to	to	ADP
alkej-356	88	12	both	both	DET
alkej-356	88	13	outputs	output	NOUN
alkej-356	88	14	.	.	PUNCT
alkej-356	89	1	based	base	VERB
alkej-356	89	2	on	on	ADP
alkej-356	89	3	optimal	optimal	ADJ
alkej-356	89	4	control	control	NOUN
alkej-356	89	5	theory	theory	NOUN
alkej-356	89	6	,	,	PUNCT
alkej-356	89	7	the	the	DET
alkej-356	89	8	following	follow	VERB
alkej-356	89	9	control	control	NOUN
alkej-356	89	10	riccatiequation	riccatiequation	PROPN
alkej-356	89	11	is	be	AUX
alkej-356	89	12	established	establish	VERB
alkej-356	89	13	as	as	ADP
alkej-356	89	14	[	[	X
alkej-356	89	15	18	18	NUM
alkej-356	89	16	]	]	PUNCT
alkej-356	89	17	,	,	PUNCT
alkej-356	89	18	d6	d6	NOUN
alkej-356	89	19	+	+	NOUN
alkej-356	89	20	65d	65d	NOUN
alkej-356	89	21	+	+	CCONJ
alkej-356	89	22	858	858	NUM
alkej-356	89	23	−	−	NOUN
alkej-356	89	24	d75`<	d75`<	NUM
alkej-356	89	25	�	�	PROPN
alkej-356	89	26	7	7	NUM
alkej-356	89	27	d	d	NOUN
alkej-356	89	28	=	=	SYM
alkej-356	89	29	3e4	3e4	NUM
alkej-356	89	30	…	…	PUNCT
alkej-356	89	31	(	(	PUNCT
alkej-356	89	32	35	35	NUM
alkej-356	89	33	)	)	PUNCT
alkej-356	89	34	since	since	SCONJ
alkej-356	89	35	matlab	matlab	PROPN
alkej-356	89	36	package	package	NOUN
alkej-356	89	37	is	be	AUX
alkej-356	89	38	used	use	VERB
alkej-356	89	39	here	here	ADV
alkej-356	89	40	,	,	PUNCT
alkej-356	89	41	a	a	DET
alkej-356	89	42	special	special	ADJ
alkej-356	89	43	builtin	builtin	NOUN
alkej-356	89	44	function	function	NOUN
alkej-356	89	45	called	call	VERB
alkej-356	89	46	care	care	NOUN
alkej-356	89	47	is	be	AUX
alkej-356	89	48	used	use	VERB
alkej-356	89	49	to	to	PART
alkej-356	89	50	solve	solve	VERB
alkej-356	89	51	above	above	ADP
alkej-356	89	52	ricatti	ricatti	ADJ
alkej-356	89	53	equation	equation	NOUN
alkej-356	89	54	for	for	ADP
alkej-356	89	55	matrix	matrix	NOUN
alkej-356	89	56	d.	d.	PROPN
alkej-356	89	57	positive	positive	ADJ
alkej-356	89	58	definiteness	definiteness	NOUN
alkej-356	89	59	of	of	ADP
alkej-356	89	60	matrix	matrix	NOUN
alkej-356	89	61	d	d	NOUN
alkej-356	89	62	is	be	AUX
alkej-356	89	63	a	a	DET
alkej-356	89	64	necessary	necessary	ADJ
alkej-356	89	65	condition	condition	NOUN
alkej-356	89	66	of	of	ADP
alkej-356	89	67	solution	solution	NOUN
alkej-356	89	68	.	.	PUNCT
alkej-356	90	1	the	the	DET
alkej-356	90	2	optimal	optimal	ADJ
alkej-356	90	3	solution	solution	NOUN
alkej-356	90	4	can	can	AUX
alkej-356	90	5	be	be	AUX
alkej-356	90	6	found	find	VERB
alkej-356	90	7	in	in	ADP
alkej-356	90	8	terms	term	NOUN
alkej-356	90	9	of	of	ADP
alkej-356	90	10	d	d	NOUN
alkej-356	90	11	-	-	NOUN
alkej-356	90	12	matrix	matrix	NOUN
alkej-356	90	13	as	as	SCONJ
alkej-356	90	14	follows	follow	VERB
alkej-356	90	15	;	;	PUNCT
alkej-356	90	16	(	(	PUNCT
alkej-356	90	17	∗	∗	NOUN
alkej-356	90	18	�	�	PROPN
alkej-356	90	19	�	�	PROPN
alkej-356	90	20	�	�	PROPN
alkej-356	90	21	=	=	SYM
alkej-356	90	22	−`<	−`<	PROPN
alkej-356	90	23	�	�	PROPN
alkej-356	90	24	75d)∗	75d)∗	NOUN
alkej-356	90	25	�	�	PROPN
alkej-356	90	26	�	�	PROPN
alkej-356	90	27	�	�	PROPN
alkej-356	90	28	…	…	PUNCT
alkej-356	90	29	(	(	PUNCT
alkej-356	90	30	36	36	NUM
alkej-356	90	31	)	)	PUNCT
alkej-356	90	32	the	the	DET
alkej-356	90	33	closed	closed	ADJ
alkej-356	90	34	-	-	PUNCT
alkej-356	90	35	loop	loop	NOUN
alkej-356	90	36	system	system	NOUN
alkej-356	90	37	based	base	VERB
alkej-356	90	38	on	on	ADP
alkej-356	90	39	optimal	optimal	ADJ
alkej-356	90	40	control	control	NOUN
alkej-356	90	41	input	input	NOUN
alkej-356	90	42	is	be	AUX
alkej-356	90	43	given	give	VERB
alkej-356	90	44	by	by	ADP
alkej-356	90	45	[	[	X
alkej-356	90	46	18	18	NUM
alkej-356	90	47	]	]	X
alkej-356	90	48	;	;	PUNCT
alkej-356	90	49	)	)	PUNCT
alkej-356	90	50	�	�	PROPN
alkej-356	90	51	∗	∗	PROPN
alkej-356	90	52	�	�	PROPN
alkej-356	90	53	�	�	PROPN
alkej-356	90	54	�	�	PROPN
alkej-356	90	55	=	=	PROPN
alkej-356	90	56	36	36	NUM
alkej-356	90	57	−	−	PROPN
alkej-356	90	58	7	7	NUM
alkej-356	90	59	f4)∗	f4)∗	PROPN
alkej-356	90	60	�	�	PROPN
alkej-356	90	61	�	�	PROPN
alkej-356	90	62	�	�	PROPN
alkej-356	90	63	…	…	PUNCT
alkej-356	90	64	(	(	PUNCT
alkej-356	90	65	37	37	NUM
alkej-356	90	66	)	)	PUNCT
alkej-356	90	67	where	where	SCONJ
alkej-356	90	68	f	f	NOUN
alkej-356	90	69	=	=	PRON
alkej-356	90	70	`	`	PUNCT
alkej-356	90	71	<	<	X
alkej-356	90	72	�	�	X
alkej-356	90	73	75d	75d	NOUN
alkej-356	90	74	.	.	PUNCT
alkej-356	91	1	the	the	DET
alkej-356	91	2	closed	close	VERB
alkej-356	91	3	-	-	PUNCT
alkej-356	91	4	loop	loop	NOUN
alkej-356	91	5	system	system	NOUN
alkej-356	91	6	will	will	AUX
alkej-356	91	7	exhibit	exhibit	VERB
alkej-356	91	8	different	different	ADJ
alkej-356	91	9	performance	performance	NOUN
alkej-356	91	10	depending	depend	VERB
alkej-356	91	11	on	on	ADP
alkej-356	91	12	how	how	SCONJ
alkej-356	91	13	design	design	NOUN
alkej-356	91	14	parameters	parameter	NOUN
alkej-356	91	15	are	be	AUX
alkej-356	91	16	selected	select	VERB
alkej-356	91	17	.	.	PUNCT
alkej-356	92	1	generally	generally	ADV
alkej-356	92	2	speaking	speak	VERB
alkej-356	92	3	,	,	PUNCT
alkej-356	92	4	selecting	select	VERB
alkej-356	92	5	_	_	PUNCT
alkej-356	92	6	with	with	ADP
alkej-356	92	7	large	large	ADJ
alkej-356	92	8	terms	term	NOUN
alkej-356	92	9	means	mean	VERB
alkej-356	92	10	that	that	SCONJ
alkej-356	92	11	,	,	PUNCT
alkej-356	92	12	to	to	PART
alkej-356	92	13	keep	keep	VERB
alkej-356	92	14	gsmall	gsmall	PROPN
alkej-356	92	15	,	,	PUNCT
alkej-356	92	16	the	the	DET
alkej-356	92	17	state	state	NOUN
alkej-356	92	18	)	)	PUNCT
alkej-356	92	19	�	�	PROPN
alkej-356	92	20	�	�	PROPN
alkej-356	92	21	�	�	PROPN
alkej-356	92	22	must	must	AUX
alkej-356	92	23	be	be	AUX
alkej-356	92	24	smaller	small	ADJ
alkej-356	92	25	.	.	PUNCT
alkej-356	93	1	on	on	ADP
alkej-356	93	2	the	the	DET
alkej-356	93	3	other	other	ADJ
alkej-356	93	4	hand	hand	NOUN
alkej-356	93	5	selecting	selecting	NOUN
alkej-356	93	6	`	`	PUNCT
alkej-356	93	7	with	with	ADP
alkej-356	93	8	large	large	ADJ
alkej-356	93	9	terms	term	NOUN
alkej-356	93	10	means	mean	VERB
alkej-356	93	11	that	that	SCONJ
alkej-356	93	12	the	the	DET
alkej-356	93	13	control	control	NOUN
alkej-356	93	14	input	input	NOUN
alkej-356	93	15	(	(	PUNCT
alkej-356	93	16	�	�	PROPN
alkej-356	93	17	�	�	PROPN
alkej-356	93	18	�	�	PROPN
alkej-356	93	19	must	must	AUX
alkej-356	93	20	be	be	AUX
alkej-356	93	21	smaller	small	ADJ
alkej-356	93	22	to	to	PART
alkej-356	93	23	keep	keep	VERB
alkej-356	93	24	^	^	PUNCT
alkej-356	93	25	small	small	ADJ
alkej-356	93	26	.	.	PUNCT
alkej-356	94	1	this	this	PRON
alkej-356	94	2	means	mean	VERB
alkej-356	94	3	that	that	SCONJ
alkej-356	94	4	larger	large	ADJ
alkej-356	94	5	values	value	NOUN
alkej-356	94	6	of	of	ADP
alkej-356	94	7	_	_	NOUN
alkej-356	94	8	generally	generally	ADV
alkej-356	94	9	result	result	VERB
alkej-356	94	10	in	in	ADP
alkej-356	94	11	the	the	DET
alkej-356	94	12	closed	closed	ADJ
alkej-356	94	13	loop	loop	NOUN
alkej-356	94	14	poles	pole	NOUN
alkej-356	94	15	of	of	ADP
alkej-356	94	16	the	the	DET
alkej-356	94	17	system	system	NOUN
alkej-356	94	18	matrix	matrix	NOUN
alkej-356	94	19	�	�	PROPN
alkej-356	95	1	6	6	NUM
alkej-356	95	2	−	−	PROPN
alkej-356	95	3	7f	7f	NUM
alkej-356	95	4	�	�	PROPN
alkej-356	95	5	being	be	AUX
alkej-356	95	6	further	far	ADV
alkej-356	95	7	left	leave	VERB
alkej-356	95	8	in	in	ADP
alkej-356	95	9	the	the	DET
alkej-356	95	10	s	s	NOUN
alkej-356	95	11	-	-	NOUN
alkej-356	95	12	plane	plane	NOUN
alkej-356	95	13	so	so	SCONJ
alkej-356	95	14	that	that	SCONJ
alkej-356	95	15	the	the	DET
alkej-356	95	16	state	state	NOUN
alkej-356	95	17	decays	decay	VERB
alkej-356	95	18	faster	fast	ADV
alkej-356	95	19	to	to	ADP
alkej-356	95	20	zero	zero	NUM
alkej-356	95	21	.	.	PUNCT
alkej-356	96	1	on	on	ADP
alkej-356	96	2	the	the	DET
alkej-356	96	3	other	other	ADJ
alkej-356	96	4	hand	hand	NOUN
alkej-356	96	5	,	,	PUNCT
alkej-356	96	6	larger	large	ADJ
alkej-356	96	7	c	c	NOUN
alkej-356	96	8	means	mean	VERB
alkej-356	96	9	that	that	SCONJ
alkej-356	96	10	less	less	ADJ
alkej-356	96	11	control	control	NOUN
alkej-356	96	12	effort	effort	NOUN
alkej-356	96	13	is	be	AUX
alkej-356	96	14	used	use	VERB
alkej-356	96	15	,	,	PUNCT
alkej-356	96	16	so	so	SCONJ
alkej-356	96	17	that	that	SCONJ
alkej-356	96	18	the	the	DET
alkej-356	96	19	poles	pole	NOUN
alkej-356	96	20	are	be	AUX
alkej-356	96	21	generally	generally	ADV
alkej-356	96	22	slower	slow	ADJ
alkej-356	96	23	,	,	PUNCT
alkej-356	96	24	resulting	result	VERB
alkej-356	96	25	in	in	ADP
alkej-356	96	26	larger	large	ADJ
alkej-356	96	27	values	value	NOUN
alkej-356	96	28	of	of	ADP
alkej-356	96	29	the	the	DET
alkej-356	96	30	state	state	NOUN
alkej-356	96	31	)	)	PUNCT
alkej-356	96	32	�	�	PROPN
alkej-356	96	33	�	�	PROPN
alkej-356	96	34	�	�	PROPN
alkej-356	96	35	.	.	PUNCT
alkej-356	97	1	bashar	bashar	PROPN
alkej-356	97	2	fateh	fateh	PROPN
alkej-356	97	3	midhat	midhat	PROPN
alkej-356	97	4	al	al	PROPN
alkej-356	97	5	-	-	PUNCT
alkej-356	97	6	khwarizmi	khwarizmi	PROPN
alkej-356	97	7	engineering	engineering	NOUN
alkej-356	97	8	journal	journal	PROPN
alkej-356	97	9	,	,	PUNCT
alkej-356	97	10	vol	vol	NOUN
alkej-356	97	11	.	.	PROPN
alkej-356	97	12	13	13	NUM
alkej-356	97	13	,	,	PUNCT
alkej-356	97	14	no	no	INTJ
alkej-356	97	15	.	.	NOUN
alkej-356	97	16	3	3	NUM
alkej-356	97	17	,	,	PUNCT
alkej-356	97	18	p.p	p.p	PROPN
alkej-356	97	19	.	.	NOUN
alkej-356	97	20	5563	5563	NUM
alkej-356	97	21	(	(	PUNCT
alkej-356	97	22	2017	2017	NUM
alkej-356	97	23	)	)	PUNCT
alkej-356	97	24	59	59	NUM
alkej-356	97	25	3.4	3.4	NUM
alkej-356	97	26	.	.	PUNCT
alkej-356	98	1	optimal	optimal	ADJ
alkej-356	98	2	lqr	lqr	VERB
alkej-356	98	3	control	control	VERB
alkej-356	98	4	with	with	ADP
alkej-356	98	5	disturbance	disturbance	NOUN
alkej-356	98	6	rejection	rejection	NOUN
alkej-356	98	7	(	(	PUNCT
alkej-356	98	8	minimax	minimax	NOUN
alkej-356	98	9	)	)	PUNCT
alkej-356	98	10	the	the	DET
alkej-356	98	11	disturbance	disturbance	NOUN
alkej-356	98	12	rejection	rejection	NOUN
alkej-356	98	13	lq	lq	NOUN
alkej-356	98	14	method	method	NOUN
alkej-356	98	15	is	be	AUX
alkej-356	98	16	a	a	DET
alkej-356	98	17	generalization	generalization	NOUN
alkej-356	98	18	of	of	ADP
alkej-356	98	19	classical	classical	ADJ
alkej-356	98	20	lq	lq	NOUN
alkej-356	98	21	method	method	NOUN
alkej-356	98	22	and	and	CCONJ
alkej-356	98	23	is	be	AUX
alkej-356	98	24	based	base	VERB
alkej-356	98	25	on	on	ADP
alkej-356	98	26	the	the	DET
alkej-356	98	27	minimax	minimax	NOUN
alkej-356	98	28	criteria	criterion	NOUN
alkej-356	98	29	.	.	PUNCT
alkej-356	99	1	this	this	DET
alkej-356	99	2	techniques	technique	NOUN
alkej-356	99	3	is	be	AUX
alkej-356	99	4	dedicated	dedicate	VERB
alkej-356	99	5	for	for	ADP
alkej-356	99	6	optimal	optimal	ADJ
alkej-356	99	7	control	control	NOUN
alkej-356	99	8	and	and	CCONJ
alkej-356	99	9	disturbance	disturbance	NOUN
alkej-356	99	10	rejection	rejection	NOUN
alkej-356	99	11	puposes	pupose	NOUN
alkej-356	99	12	.	.	PUNCT
alkej-356	100	1	figure	figure	NOUN
alkej-356	100	2	(	(	PUNCT
alkej-356	100	3	2	2	NUM
alkej-356	100	4	)	)	PUNCT
alkej-356	100	5	shows	show	VERB
alkej-356	100	6	the	the	DET
alkej-356	100	7	general	general	ADJ
alkej-356	100	8	structure	structure	NOUN
alkej-356	100	9	of	of	ADP
alkej-356	100	10	disturbance	disturbance	NOUN
alkej-356	100	11	rejection	rejection	NOUN
alkej-356	100	12	lq	lq	X
alkej-356	100	13	(	(	PUNCT
alkej-356	100	14	minmax	minmax	X
alkej-356	100	15	)	)	PUNCT
alkej-356	100	16	control	control	NOUN
alkej-356	100	17	strategy	strategy	NOUN
alkej-356	100	18	.	.	PUNCT
alkej-356	101	1	the	the	DET
alkej-356	101	2	system	system	NOUN
alkej-356	101	3	dynamic	dynamic	NOUN
alkej-356	101	4	given	give	VERB
alkej-356	101	5	by	by	ADP
alkej-356	101	6	eq.(4	eq.(4	ADJ
alkej-356	101	7	)	)	PUNCT
alkej-356	101	8	is	be	AUX
alkej-356	101	9	reformulated	reformulate	VERB
alkej-356	101	10	by	by	ADP
alkej-356	101	11	separating	separate	VERB
alkej-356	101	12	the	the	DET
alkej-356	101	13	control	control	NOUN
alkej-356	101	14	input	input	PROPN
alkej-356	101	15	�	�	PROPN
alkej-356	101	16	�	�	PROPN
alkej-356	101	17	�	�	PROPN
alkej-356	101	18	�	�	PROPN
alkej-356	101	19	from	from	ADP
alkej-356	101	20	disturbance	disturbance	NOUN
alkej-356	101	21	ℎ	ℎ	PROPN
alkej-356	101	22	�	�	PROPN
alkej-356	101	23	�	�	PROPN
alkej-356	101	24	�	�	PROPN
alkej-356	101	25	.	.	PUNCT
alkej-356	102	1	therefore	therefore	ADV
alkej-356	102	2	,	,	PUNCT
alkej-356	102	3	the	the	DET
alkej-356	102	4	dynamic	dynamic	ADJ
alkej-356	102	5	system	system	NOUN
alkej-356	102	6	can	can	AUX
alkej-356	102	7	be	be	AUX
alkej-356	102	8	written	write	VERB
alkej-356	102	9	as	as	ADP
alkej-356	102	10	;	;	PUNCT
alkej-356	102	11	'	'	PUNCT
alkej-356	102	12	�	�	PROPN
alkej-356	102	13	=	=	SYM
alkej-356	102	14	6	6	NUM
alkej-356	102	15	'	'	NUM
alkej-356	102	16	�	�	PROPN
alkej-356	102	17	�	�	PROPN
alkej-356	102	18	�	�	PROPN
alkej-356	102	19	+	+	CCONJ
alkej-356	102	20	7s	7	NOUN
alkej-356	102	21	�	�	PROPN
alkej-356	102	22	�	�	PROPN
alkej-356	102	23	�	�	PROPN
alkej-356	102	24	�	�	PROPN
alkej-356	102	25	+	+	NUM
alkej-356	102	26	t	t	PROPN
alkej-356	102	27	ℎ	ℎ	PROPN
alkej-356	102	28	�	�	PROPN
alkej-356	102	29	�	�	PROPN
alkej-356	102	30	�	�	PROPN
alkej-356	102	31	…	…	PUNCT
alkej-356	102	32	(	(	PUNCT
alkej-356	102	33	38	38	NUM
alkej-356	102	34	)	)	SYM
alkej-356	102	35	2	2	NUM
alkej-356	102	36	�	�	PROPN
alkej-356	102	37	�	�	NOUN
alkej-356	102	38	�	�	PROPN
alkej-356	102	39	=	=	SYM
alkej-356	102	40	8	8	NUM
alkej-356	102	41	'	'	NUM
alkej-356	102	42	�	�	PROPN
alkej-356	102	43	�	�	PROPN
alkej-356	102	44	�	�	PROPN
alkej-356	102	45	+	+	NUM
alkej-356	102	46	h	h	NOUN
alkej-356	102	47	(	(	PUNCT
alkej-356	102	48	where7s	where7s	NOUN
alkej-356	102	49	=	=	NOUN
alkej-356	102	50	31	31	NUM
alkej-356	102	51	1	1	NUM
alkej-356	102	52	�	�	PROPN
alkej-356	102	53	�	�	PROPN
alkej-356	102	54	⁄	⁄	ADP
alkej-356	102	55	45	45	NUM
alkej-356	102	56	andt	andt	NOUN
alkej-356	102	57	=	=	PUNCT
alkej-356	102	58	31	31	NUM
alkej-356	102	59	045	045	NUM
alkej-356	102	60	.	.	PUNCT
alkej-356	103	1	fig	fig	NOUN
alkej-356	103	2	.	.	PUNCT
alkej-356	104	1	2.general	2.general	NUM
alkej-356	104	2	structure	structure	NOUN
alkej-356	104	3	of	of	ADP
alkej-356	104	4	minimax	minimax	NOUN
alkej-356	104	5	control	control	NOUN
alkej-356	104	6	[	[	X
alkej-356	104	7	15	15	NUM
alkej-356	104	8	]	]	PUNCT
alkej-356	104	9	.	.	PUNCT
alkej-356	105	1	in	in	ADP
alkej-356	105	2	this	this	DET
alkej-356	105	3	case	case	NOUN
alkej-356	105	4	,	,	PUNCT
alkej-356	105	5	the	the	DET
alkej-356	105	6	quadratic	quadratic	ADJ
alkej-356	105	7	cost	cost	NOUN
alkej-356	105	8	functional	functional	ADJ
alkej-356	105	9	will	will	AUX
alkej-356	105	10	be	be	AUX
alkej-356	105	11	modified	modify	VERB
alkej-356	105	12	with	with	ADP
alkej-356	105	13	the	the	DET
alkej-356	105	14	disturbance	disturbance	NOUN
alkej-356	105	15	explicitly	explicitly	ADV
alkej-356	105	16	^i	^i	VERB
alkej-356	105	17	�	�	PROPN
alkej-356	105	18	�	�	PROPN
alkej-356	105	19	�	�	PROPN
alkej-356	105	20	�	�	PROPN
alkej-356	105	21	j	j	NOUN
alkej-356	105	22	=	=	SYM
alkej-356	105	23	12	12	NUM
alkej-356	105	24	l	l	NOUN
alkej-356	105	25	n25	n25	PROPN
alkej-356	105	26	�	�	PROPN
alkej-356	105	27	�	�	PROPN
alkej-356	105	28	�	�	PROPN
alkej-356	105	29	2	2	NUM
alkej-356	105	30	�	�	PROPN
alkej-356	105	31	�	�	PROPN
alkej-356	105	32	�	�	PROPN
alkej-356	105	33	�	�	PROPN
alkej-356	105	34	&	&	CCONJ
alkej-356	105	35	+	+	PROPN
alkej-356	105	36	�	�	PROPN
alkej-356	105	37	5	5	NUM
alkej-356	105	38	�	�	PROPN
alkej-356	105	39	�	�	PROPN
alkej-356	105	40	�	�	PROPN
alkej-356	105	41	�	�	PROPN
alkej-356	105	42	�	�	PROPN
alkej-356	105	43	�	�	PROPN
alkej-356	105	44	�	�	PROPN
alkej-356	105	45	−m	−m	PROPN
alkej-356	105	46	�	�	PROPN
alkej-356	105	47	ℎ5	ℎ5	PROPN
alkej-356	105	48	�	�	PROPN
alkej-356	105	49	�	�	PROPN
alkej-356	105	50	�	�	PROPN
alkej-356	105	51	ℎ	ℎ	PROPN
alkej-356	105	52	�	�	PROPN
alkej-356	105	53	�	�	PROPN
alkej-356	105	54	�	�	PROPN
alkej-356	105	55	o	o	PROPN
alkej-356	105	56	�	�	PROPN
alkej-356	105	57	�	�	PROPN
alkej-356	105	58	…	…	PUNCT
alkej-356	105	59	(	(	PUNCT
alkej-356	105	60	39	39	NUM
alkej-356	105	61	)	)	PUNCT
alkej-356	105	62	wherem	wherem	PROPN
alkej-356	105	63	is	be	AUX
alkej-356	105	64	a	a	DET
alkej-356	105	65	design	design	NOUN
alkej-356	105	66	parameter	parameter	NOUN
alkej-356	105	67	,	,	PUNCT
alkej-356	105	68	which	which	PRON
alkej-356	105	69	is	be	AUX
alkej-356	105	70	concerned	concern	VERB
alkej-356	105	71	in	in	ADP
alkej-356	105	72	system	system	NOUN
alkej-356	105	73	stability	stability	NOUN
alkej-356	105	74	analysis	analysis	NOUN
alkej-356	105	75	.	.	PUNCT
alkej-356	106	1	it	it	PRON
alkej-356	106	2	is	be	AUX
alkej-356	106	3	clear	clear	ADJ
alkej-356	106	4	that	that	SCONJ
alkej-356	106	5	the	the	DET
alkej-356	106	6	disturbance	disturbance	NOUN
alkej-356	106	7	tries	try	VERB
alkej-356	106	8	to	to	PART
alkej-356	106	9	maximize	maximize	VERB
alkej-356	106	10	the	the	DET
alkej-356	106	11	cost	cost	NOUN
alkej-356	106	12	,	,	PUNCT
alkej-356	106	13	so	so	SCONJ
alkej-356	106	14	it	it	PRON
alkej-356	106	15	appears	appear	VERB
alkej-356	106	16	with	with	ADP
alkej-356	106	17	negative	negative	ADJ
alkej-356	106	18	sign	sign	NOUN
alkej-356	106	19	.	.	PUNCT
alkej-356	107	1	meanwhile	meanwhile	ADV
alkej-356	107	2	,	,	PUNCT
alkej-356	107	3	the	the	DET
alkej-356	107	4	objective	objective	NOUN
alkej-356	107	5	is	be	AUX
alkej-356	107	6	to	to	PART
alkej-356	107	7	find	find	VERB
alkej-356	107	8	a	a	DET
alkej-356	107	9	control	control	NOUN
alkej-356	107	10	�	�	PROPN
alkej-356	107	11	�	�	PROPN
alkej-356	107	12	�	�	PROPN
alkej-356	107	13	�	�	PROPN
alkej-356	107	14	that	that	PRON
alkej-356	107	15	could	could	AUX
alkej-356	107	16	minimize	minimize	VERB
alkej-356	107	17	the	the	DET
alkej-356	107	18	maximum	maximum	ADJ
alkej-356	107	19	cost	cost	NOUN
alkej-356	107	20	achievable	achievable	ADJ
alkej-356	107	21	by	by	ADP
alkej-356	107	22	the	the	DET
alkej-356	107	23	disturbance	disturbance	NOUN
alkej-356	107	24	.	.	PUNCT
alkej-356	108	1	the	the	DET
alkej-356	108	2	unique	unique	ADJ
alkej-356	108	3	solution	solution	NOUN
alkej-356	108	4	of	of	ADP
alkej-356	108	5	cost	cost	NOUN
alkej-356	108	6	function	function	NOUN
alkej-356	108	7	,	,	PUNCT
alkej-356	108	8	�	�	PROPN
alkej-356	108	9	∗	∗	NOUN
alkej-356	108	10	�	�	PROPN
alkej-356	108	11	�	�	PROPN
alkej-356	108	12	�	�	PROPN
alkej-356	108	13	andℎ∗	andℎ∗	PROPN
alkej-356	108	14	�	�	PROPN
alkej-356	108	15	�	�	PROPN
alkej-356	108	16	�	�	PROPN
alkej-356	108	17	,	,	PUNCT
alkej-356	108	18	exists	exist	VERB
alkej-356	108	19	and	and	CCONJ
alkej-356	108	20	satisfies	satisfy	VERB
alkej-356	108	21	the	the	DET
alkej-356	108	22	saddle	saddle	NOUN
alkej-356	108	23	point	point	NOUN
alkej-356	108	24	condition	condition	NOUN
alkej-356	108	25	,	,	PUNCT
alkej-356	108	26	^	^	PUNCT
alkej-356	108	27	i	i	PROPN
alkej-356	108	28	�	�	PROPN
alkej-356	108	29	∗	∗	NOUN
alkej-356	108	30	�	�	PROPN
alkej-356	108	31	�	�	PROPN
alkej-356	108	32	�	�	PROPN
alkej-356	108	33	,	,	PUNCT
alkej-356	108	34	ℎ	ℎ	PROPN
alkej-356	108	35	�	�	PROPN
alkej-356	108	36	�	�	PROPN
alkej-356	108	37	�	�	PROPN
alkej-356	108	38	j	j	PROPN
alkej-356	108	39	m	m	PROPN
alkej-356	108	40	^	^	SYM
alkej-356	108	41	i	i	PROPN
alkej-356	108	42	�	�	PROPN
alkej-356	108	43	�	�	PROPN
alkej-356	108	44	�	�	PROPN
alkej-356	108	45	�	�	PROPN
alkej-356	108	46	,	,	PUNCT
alkej-356	108	47	ℎ∗	ℎ∗	PROPN
alkej-356	108	48	�	�	PROPN
alkej-356	108	49	�	�	PROPN
alkej-356	108	50	�	�	PROPN
alkej-356	108	51	j	j	PROPN
alkej-356	108	52	m	m	PROPN
alkej-356	108	53	^	^	SYM
alkej-356	109	1	i	i	PROPN
alkej-356	109	2	�	�	PROPN
alkej-356	109	3	∗	∗	NOUN
alkej-356	109	4	�	�	PROPN
alkej-356	109	5	�	�	PROPN
alkej-356	109	6	�	�	PROPN
alkej-356	109	7	,	,	PUNCT
alkej-356	109	8	ℎ∗	ℎ∗	PROPN
alkej-356	109	9	�	�	PROPN
alkej-356	109	10	�	�	PROPN
alkej-356	109	11	�	�	PROPN
alkej-356	109	12	j	j	PROPN
alkej-356	109	13	…	…	PUNCT
alkej-356	109	14	(	(	PUNCT
alkej-356	109	15	40	40	NUM
alkej-356	109	16	)	)	PUNCT
alkej-356	109	17	where	where	SCONJ
alkej-356	109	18	�	�	PROPN
alkej-356	109	19	∗	∗	PROPN
alkej-356	109	20	�	�	PROPN
alkej-356	109	21	�	�	PROPN
alkej-356	109	22	�	�	PROPN
alkej-356	109	23	is	be	AUX
alkej-356	109	24	the	the	DET
alkej-356	109	25	optimal	optimal	ADJ
alkej-356	109	26	control	control	NOUN
alkej-356	109	27	and	and	CCONJ
alkej-356	109	28	ℎ∗	ℎ∗	PROPN
alkej-356	109	29	�	�	PROPN
alkej-356	109	30	�	�	PROPN
alkej-356	109	31	�	�	PROPN
alkej-356	109	32	is	be	AUX
alkej-356	109	33	the	the	DET
alkej-356	109	34	worst	bad	ADJ
alkej-356	109	35	-	-	PUNCT
alkej-356	109	36	case	case	NOUN
alkej-356	109	37	disturbance	disturbance	NOUN
alkej-356	109	38	.	.	PUNCT
alkej-356	110	1	these	these	DET
alkej-356	110	2	functions	function	NOUN
alkej-356	110	3	can	can	AUX
alkej-356	110	4	be	be	AUX
alkej-356	110	5	computed	compute	VERB
alkej-356	110	6	as	as	ADP
alkej-356	110	7	:	:	PUNCT
alkej-356	110	8	�	�	PROPN
alkej-356	110	9	∗	∗	NOUN
alkej-356	110	10	�	�	PROPN
alkej-356	110	11	�	�	PROPN
alkej-356	110	12	�	�	PROPN
alkej-356	110	13	=	=	SYM
alkej-356	110	14	−7s5d	−7s5d	PROPN
alkej-356	110	15	)	)	PUNCT
alkej-356	110	16	�	�	PROPN
alkej-356	110	17	�	�	PROPN
alkej-356	110	18	�	�	PROPN
alkej-356	110	19	ℎ∗	ℎ∗	PROPN
alkej-356	110	20	�	�	PROPN
alkej-356	110	21	�	�	PROPN
alkej-356	110	22	�	�	PROPN
alkej-356	110	23	=	=	SYM
alkej-356	110	24	�	�	PROPN
alkej-356	110	25	1	1	NUM
alkej-356	110	26	m	m	PROPN
alkej-356	110	27	�	�	PROPN
alkej-356	110	28	⁄	⁄	PROPN
alkej-356	110	29	�	�	PROPN
alkej-356	110	30	t5	t5	PROPN
alkej-356	110	31	'	'	PUNCT
alkej-356	110	32	�	�	PROPN
alkej-356	110	33	�	�	PROPN
alkej-356	110	34	�	�	PROPN
alkej-356	110	35	…	…	PUNCT
alkej-356	110	36	(	(	PUNCT
alkej-356	110	37	41	41	NUM
alkej-356	110	38	)	)	PUNCT
alkej-356	110	39	where	where	SCONJ
alkej-356	110	40	d	d	PROPN
alkej-356	110	41	is	be	AUX
alkej-356	110	42	positive	positive	ADJ
alkej-356	110	43	symmetric	symmetric	ADJ
alkej-356	110	44	matrix	matrix	NOUN
alkej-356	110	45	.	.	PUNCT
alkej-356	111	1	the	the	DET
alkej-356	111	2	numeric	numeric	ADJ
alkej-356	111	3	values	value	NOUN
alkej-356	111	4	of	of	ADP
alkej-356	111	5	matrix	matrix	NOUN
alkej-356	111	6	entries	entry	NOUN
alkej-356	111	7	are	be	AUX
alkej-356	111	8	determined	determine	VERB
alkej-356	111	9	by	by	ADP
alkej-356	111	10	the	the	DET
alkej-356	111	11	solution	solution	NOUN
alkej-356	111	12	of	of	ADP
alkej-356	111	13	the	the	DET
alkej-356	111	14	following	follow	VERB
alkej-356	111	15	modified	modify	VERB
alkej-356	111	16	control	control	NOUN
alkej-356	111	17	riccati	riccati	NOUN
alkej-356	111	18	equation	equation	NOUN
alkej-356	111	19	(	(	PUNCT
alkej-356	111	20	mcre	mcre	PROPN
alkej-356	111	21	)	)	PUNCT
alkej-356	111	22	;	;	PUNCT
alkej-356	111	23	d6	d6	NOUN
alkej-356	111	24	+	+	NOUN
alkej-356	111	25	65d	65d	NOUN
alkej-356	112	1	+	+	CCONJ
alkej-356	112	2	858	858	NUM
alkej-356	112	3	−	−	NOUN
alkej-356	112	4	d	d	SYM
alkej-356	112	5	�	�	PROPN
alkej-356	112	6	7s57s	7s57s	NUM
alkej-356	112	7	−	−	PROPN
alkej-356	112	8	tt5	tt5	PROPN
alkej-356	112	9	�	�	PROPN
alkej-356	112	10	d	d	NOUN
alkej-356	112	11	=	=	SYM
alkej-356	112	12	304	304	NUM
alkej-356	112	13	…	…	PUNCT
alkej-356	112	14	(	(	PUNCT
alkej-356	112	15	42	42	NUM
alkej-356	112	16	)	)	PUNCT
alkej-356	112	17	to	to	PART
alkej-356	112	18	solve	solve	VERB
alkej-356	112	19	riccatiequation	riccatiequation	NOUN
alkej-356	112	20	using	use	VERB
alkej-356	112	21	matlab	matlab	PROPN
alkej-356	112	22	built	build	VERB
alkej-356	112	23	-	-	PUNCT
alkej-356	112	24	in	in	ADP
alkej-356	112	25	care	care	NOUN
alkej-356	112	26	function	function	NOUN
alkej-356	112	27	,	,	PUNCT
alkej-356	112	28	the	the	DET
alkej-356	112	29	structure	structure	NOUN
alkej-356	112	30	of	of	ADP
alkej-356	112	31	above	above	ADP
alkej-356	112	32	riccati	riccati	NOUN
alkej-356	112	33	equation	equation	NOUN
alkej-356	112	34	is	be	AUX
alkej-356	112	35	modified	modify	VERB
alkej-356	112	36	to	to	PART
alkej-356	112	37	be	be	AUX
alkej-356	112	38	rewritten	rewrite	VERB
alkej-356	112	39	as	as	ADP
alkej-356	112	40	d6	d6	NOUN
alkej-356	112	41	+	+	CCONJ
alkej-356	112	42	65	65	NUM
alkej-356	112	43	−	−	NOUN
alkej-356	112	44	d3t7s4	d3t7s4	VERB
alkej-356	112	45	,	,	PUNCT
alkej-356	112	46	−m	−m	NOUN
alkej-356	112	47	�	�	PROPN
alkej-356	112	48	00	00	PUNCT
alkej-356	113	1	1-	1-	NUM
alkej-356	113	2	<	<	X
alkej-356	113	3	�	�	X
alkej-356	113	4	3t57s54d	3t57s54d	PROPN
alkej-356	113	5	+858	+858	X
alkej-356	113	6	=	=	SYM
alkej-356	113	7	304	304	NUM
alkej-356	113	8	…	…	PUNCT
alkej-356	113	9	(	(	PUNCT
alkej-356	113	10	43	43	NUM
alkej-356	113	11	)	)	PUNCT
alkej-356	113	12	where	where	SCONJ
alkej-356	113	13	,	,	PUNCT
alkej-356	113	14	`	`	PUNCT
alkej-356	113	15	=	=	SYM
alkej-356	113	16	,	,	PUNCT
alkej-356	113	17	−m	−m	NOUN
alkej-356	113	18	�	�	PROPN
alkej-356	113	19	00	00	NUM
alkej-356	113	20	1and	1and	NUM
alkej-356	113	21	n	n	PROPN
alkej-356	113	22	=	=	SYM
alkej-356	113	23	3t7s4	3t7s4	PROPN
alkej-356	113	24	.	.	PUNCT
alkej-356	114	1	the	the	DET
alkej-356	114	2	re	re	NOUN
alkej-356	114	3	described	describe	VERB
alkej-356	114	4	by	by	ADP
alkej-356	114	5	eq.(43	eq.(43	PROPN
alkej-356	114	6	)	)	PUNCT
alkej-356	114	7	finds	find	VERB
alkej-356	114	8	a	a	DET
alkej-356	114	9	straightforward	straightforward	ADJ
alkej-356	114	10	solution	solution	NOUN
alkej-356	114	11	with	with	ADP
alkej-356	114	12	the	the	DET
alkej-356	114	13	help	help	NOUN
alkej-356	114	14	of	of	ADP
alkej-356	114	15	care	care	NOUN
alkej-356	114	16	function	function	NOUN
alkej-356	114	17	as	as	SCONJ
alkej-356	114	18	indicated	indicate	VERB
alkej-356	114	19	in	in	ADP
alkej-356	114	20	appendix	appendix	NOUN
alkej-356	114	21	(	(	PUNCT
alkej-356	114	22	a	a	NOUN
alkej-356	114	23	)	)	PUNCT
alkej-356	114	24	.	.	PUNCT
alkej-356	115	1	4	4	X
alkej-356	115	2	.	.	X
alkej-356	115	3	simulation	simulation	NOUN
alkej-356	115	4	results	result	VERB
alkej-356	115	5	both	both	DET
alkej-356	115	6	sliding	slide	VERB
alkej-356	115	7	mode	mode	NOUN
alkej-356	115	8	and	and	CCONJ
alkej-356	115	9	optimal	optimal	ADJ
alkej-356	115	10	lqr	lqr	NOUN
alkej-356	115	11	controllers	controller	NOUN
alkej-356	115	12	have	have	AUX
alkej-356	115	13	been	be	AUX
alkej-356	115	14	applied	apply	VERB
alkej-356	115	15	to	to	ADP
alkej-356	115	16	the	the	DET
alkej-356	115	17	diabetic	diabetic	ADJ
alkej-356	115	18	model	model	NOUN
alkej-356	115	19	.	.	PUNCT
alkej-356	116	1	the	the	DET
alkej-356	116	2	effectiveness	effectiveness	NOUN
alkej-356	116	3	and	and	CCONJ
alkej-356	116	4	robustness	robustness	NOUN
alkej-356	116	5	of	of	ADP
alkej-356	116	6	suggested	suggest	VERB
alkej-356	116	7	controllers	controller	NOUN
alkej-356	116	8	are	be	AUX
alkej-356	116	9	assessed	assess	VERB
alkej-356	116	10	using	use	VERB
alkej-356	116	11	simulation	simulation	NOUN
alkej-356	116	12	results	result	NOUN
alkej-356	116	13	based	base	VERB
alkej-356	116	14	on	on	ADP
alkej-356	116	15	matlab	matlab	PROPN
alkej-356	116	16	-	-	PUNCT
alkej-356	116	17	simulink	simulink	PROPN
alkej-356	116	18	(	(	PUNCT
alkej-356	116	19	ra2012	ra2012	NOUN
alkej-356	116	20	)	)	PUNCT
alkej-356	116	21	.	.	PUNCT
alkej-356	117	1	figure	figure	NOUN
alkej-356	117	2	(	(	PUNCT
alkej-356	117	3	3	3	X
alkej-356	117	4	)	)	PUNCT
alkej-356	117	5	shows	show	VERB
alkej-356	117	6	meal	meal	NOUN
alkej-356	117	7	disturbance	disturbance	NOUN
alkej-356	117	8	function	function	NOUN
alkej-356	117	9	behavior	behavior	NOUN
alkej-356	117	10	,	,	PUNCT
alkej-356	117	11	which	which	PRON
alkej-356	117	12	represents	represent	VERB
alkej-356	117	13	the	the	DET
alkej-356	117	14	exogenous	exogenous	ADJ
alkej-356	117	15	glucose	glucose	NOUN
alkej-356	117	16	infusion	infusion	NOUN
alkej-356	117	17	.	.	PUNCT
alkej-356	118	1	figure	figure	NOUN
alkej-356	118	2	(	(	PUNCT
alkej-356	118	3	4	4	NUM
alkej-356	118	4	)	)	PUNCT
alkej-356	118	5	shows	show	VERB
alkej-356	118	6	the	the	DET
alkej-356	118	7	simulink	simulink	PROPN
alkej-356	118	8	modeling	modeling	NOUN
alkej-356	118	9	of	of	ADP
alkej-356	118	10	sliding	slide	VERB
alkej-356	118	11	and	and	CCONJ
alkej-356	118	12	optimal	optimal	ADJ
alkej-356	118	13	controllers	controller	NOUN
alkej-356	118	14	for	for	ADP
alkej-356	118	15	controlling	control	VERB
alkej-356	118	16	the	the	DET
alkej-356	118	17	glucose	glucose	NOUN
alkej-356	118	18	level	level	NOUN
alkej-356	118	19	against	against	ADP
alkej-356	118	20	disturbing	disturb	VERB
alkej-356	118	21	meal	meal	NOUN
alkej-356	118	22	.	.	PUNCT
alkej-356	119	1	the	the	DET
alkej-356	119	2	meal	meal	NOUN
alkej-356	119	3	disturbance	disturbance	NOUN
alkej-356	119	4	is	be	AUX
alkej-356	119	5	saved	save	VERB
alkej-356	119	6	inside	inside	ADP
alkej-356	119	7	a	a	DET
alkej-356	119	8	look	look	VERB
alkej-356	119	9	-	-	PUNCT
alkej-356	119	10	up	up	ADP
alkej-356	119	11	table	table	NOUN
alkej-356	119	12	(	(	PUNCT
alkej-356	119	13	see	see	VERB
alkej-356	119	14	appendix	appendix	NOUN
alkej-356	119	15	b	b	NOUN
alkej-356	119	16	)	)	PUNCT
alkej-356	119	17	.	.	PUNCT
alkej-356	120	1	fig	fig	NOUN
alkej-356	120	2	.	.	PUNCT
alkej-356	121	1	3	3	X
alkej-356	121	2	.	.	X
alkej-356	121	3	disturbance	disturbance	NOUN
alkej-356	121	4	meal	meal	NOUN
alkej-356	121	5	function	function	NOUN
alkej-356	121	6	(	(	PUNCT
alkej-356	121	7	exogenous	exogenous	ADJ
alkej-356	121	8	glucose	glucose	NOUN
alkej-356	121	9	infusion	infusion	NOUN
alkej-356	121	10	)	)	PUNCT
alkej-356	121	11	.	.	PUNCT
alkej-356	122	1	0	0	NUM
alkej-356	123	1	200	200	NUM
alkej-356	123	2	400	400	NUM
alkej-356	123	3	600	600	NUM
alkej-356	123	4	0	0	NUM
alkej-356	123	5	0.2	0.2	NUM
alkej-356	123	6	0.4	0.4	NUM
alkej-356	123	7	0.6	0.6	NUM
alkej-356	123	8	0.8	0.8	NUM
alkej-356	123	9	1	1	NUM
alkej-356	123	10	1.2	1.2	NUM
alkej-356	123	11	time(min	time(min	NOUN
alkej-356	123	12	)	)	PUNCT
alkej-356	123	13	h	h	NOUN
alkej-356	123	14	(	(	PUNCT
alkej-356	123	15	t	t	PROPN
alkej-356	123	16	)	)	PUNCT
alkej-356	123	17	(	(	PUNCT
alkej-356	123	18	m	m	VERB
alkej-356	123	19	g	g	NOUN
alkej-356	123	20	/d	/d	PUNCT
alkej-356	123	21	l⋅m	l⋅m	VERB
alkej-356	123	22	in	in	ADP
alkej-356	123	23	)	)	PUNCT
alkej-356	123	24	bashar	bashar	PROPN
alkej-356	123	25	fateh	fateh	PROPN
alkej-356	123	26	midhat	midhat	PROPN
alkej-356	123	27	al	al	PROPN
alkej-356	123	28	-	-	PUNCT
alkej-356	123	29	khwarizmi	khwarizmi	PROPN
alkej-356	123	30	engineering	engineering	NOUN
alkej-356	123	31	journal	journal	PROPN
alkej-356	123	32	,	,	PUNCT
alkej-356	123	33	vol	vol	NOUN
alkej-356	123	34	.	.	PROPN
alkej-356	123	35	13	13	NUM
alkej-356	123	36	,	,	PUNCT
alkej-356	123	37	no	no	INTJ
alkej-356	123	38	.	.	NOUN
alkej-356	123	39	3	3	NUM
alkej-356	123	40	,	,	PUNCT
alkej-356	123	41	p.p	p.p	PROPN
alkej-356	123	42	.	.	NOUN
alkej-356	123	43	5563	5563	NUM
alkej-356	123	44	(	(	PUNCT
alkej-356	123	45	2017	2017	NUM
alkej-356	123	46	)	)	PUNCT
alkej-356	123	47	60	60	NUM
alkej-356	123	48	fig	fig	NOUN
alkej-356	123	49	.4	.4	NUM
alkej-356	123	50	.	.	PUNCT
alkej-356	124	1	matlab	matlab	PROPN
alkej-356	124	2	-	-	PUNCT
alkej-356	124	3	simulink	simulink	PROPN
alkej-356	124	4	modeling	modeling	NOUN
alkej-356	124	5	of	of	ADP
alkej-356	124	6	sliding	slide	VERB
alkej-356	124	7	mode	mode	NOUN
alkej-356	124	8	controller	controller	NOUN
alkej-356	124	9	and	and	CCONJ
alkej-356	124	10	optimal	optimal	ADJ
alkej-356	124	11	controllers	controller	NOUN
alkej-356	124	12	.	.	PUNCT
alkej-356	125	1	the	the	DET
alkej-356	125	2	model	model	NOUN
alkej-356	125	3	parameters	parameter	NOUN
alkej-356	125	4	are	be	AUX
alkej-356	125	5	listed	list	VERB
alkej-356	125	6	below	below	ADP
alkej-356	125	7	[	[	X
alkej-356	125	8	15	15	NUM
alkej-356	125	9	]	]	SYM
alkej-356	125	10	:	:	PUNCT
alkej-356	125	11	�	�	PROPN
alkej-356	125	12	�	�	PROPN
alkej-356	125	13	=	=	SYM
alkej-356	125	14	0.028	0.028	NUM
alkej-356	125	15	,	,	PUNCT
alkej-356	125	16	�	�	PROPN
alkej-356	125	17	�	�	PROPN
alkej-356	125	18	=	=	PUNCT
alkej-356	125	19	0.025	0.025	NUM
alkej-356	125	20	,	,	PUNCT
alkej-356	125	21	�	�	PROPN
alkej-356	125	22	�	�	PROPN
alkej-356	125	23	=	=	SYM
alkej-356	125	24	0.00013	0.00013	NUM
alkej-356	125	25	,	,	PUNCT
alkej-356	125	26	�	�	PROPN
alkej-356	125	27	�	�	PROPN
alkej-356	125	28	=	=	SYM
alkej-356	125	29	0.093	0.093	NUM
alkej-356	125	30	,	,	PUNCT
alkej-356	125	31	�	�	PROPN
alkej-356	125	32	t	t	NOUN
alkej-356	125	33	=	=	SYM
alkej-356	125	34	110	110	NUM
alkej-356	125	35	,	,	PUNCT
alkej-356	125	36	�	�	PROPN
alkej-356	125	37	t	t	NOUN
alkej-356	125	38	=	=	SYM
alkej-356	125	39	1.5	1.5	NUM
alkej-356	125	40	,	,	PUNCT
alkej-356	125	41	�	�	PROPN
alkej-356	125	42	&	&	CCONJ
alkej-356	125	43	=	=	PROPN
alkej-356	125	44	16.67	16.67	NUM
alkej-356	125	45	.	.	PUNCT
alkej-356	125	46	based	base	VERB
alkej-356	125	47	on	on	ADP
alkej-356	125	48	the	the	DET
alkej-356	125	49	above	above	ADJ
alkej-356	125	50	values	value	NOUN
alkej-356	125	51	,	,	PUNCT
alkej-356	125	52	the	the	DET
alkej-356	125	53	design	design	NOUN
alkej-356	125	54	parameter	parameter	NOUN
alkej-356	125	55	f	f	PROPN
alkej-356	125	56	is	be	AUX
alkej-356	125	57	calculated	calculate	VERB
alkej-356	125	58	using	use	VERB
alkej-356	125	59	eq.(13	eq.(13	NOUN
alkej-356	125	60	)	)	PUNCT
alkej-356	125	61	.	.	PUNCT
alkej-356	126	1	then	then	ADV
alkej-356	126	2	,	,	PUNCT
alkej-356	126	3	the	the	DET
alkej-356	126	4	value	value	NOUN
alkej-356	126	5	of	of	ADP
alkej-356	126	6	f	f	PROPN
alkej-356	126	7	is	be	AUX
alkej-356	126	8	equal	equal	ADJ
alkej-356	126	9	−2.23	−2.23	NOUN
alkej-356	126	10	.	.	PUNCT
alkej-356	127	1	for	for	ADP
alkej-356	127	2	the	the	DET
alkej-356	127	3	optimal	optimal	ADJ
alkej-356	127	4	lqr	lqr	NOUN
alkej-356	127	5	controller	controller	NOUN
alkej-356	127	6	,	,	PUNCT
alkej-356	127	7	the	the	DET
alkej-356	127	8	matrices	matrix	NOUN
alkej-356	127	9	`	`	PUNCT
alkej-356	127	10	and	and	CCONJ
alkej-356	127	11	_	_	PRON
alkej-356	127	12	are	be	AUX
alkej-356	127	13	set	set	VERB
alkej-356	127	14	at	at	ADP
alkej-356	127	15	the	the	DET
alkej-356	127	16	following	following	ADJ
alkej-356	127	17	values	value	NOUN
alkej-356	127	18	;	;	PUNCT
alkej-356	127	19	`	`	PUNCT
alkej-356	127	20	=	=	SYM
alkej-356	127	21	,	,	PUNCT
alkej-356	127	22	1	1	NUM
alkej-356	127	23	00	00	NUM
alkej-356	127	24	1	1	NUM
alkej-356	127	25	1000⁄	1000⁄	NUM
alkej-356	127	26	-	-	PUNCT
alkej-356	127	27	,	,	PUNCT
alkej-356	127	28	w	w	NOUN
alkej-356	127	29	=	=	SYM
alkej-356	127	30	,	,	PUNCT
alkej-356	127	31	1	1	NUM
alkej-356	127	32	1000⁄	1000⁄	NUM
alkej-356	127	33	00	00	NUM
alkej-356	127	34	1	1	NUM
alkej-356	127	35	1000⁄	1000⁄	NUM
alkej-356	127	36	-	-	PUNCT
alkej-356	127	37	,	,	PUNCT
alkej-356	127	38	considering	consider	VERB
alkej-356	127	39	the	the	DET
alkej-356	127	40	above	above	ADJ
alkej-356	127	41	d	d	PROPN
alkej-356	127	42	=	=	PUNCT
alkej-356	127	43	.	.	PUNCT
alkej-356	128	1	0.0140	0.0140	NUM
alkej-356	128	2	−0.0560−0.0560	−0.0560−0.0560	PROPN
alkej-356	128	3	0.3130	0.3130	PROPN
alkej-356	128	4	/	/	SYM
alkej-356	128	5	then	then	ADV
alkej-356	128	6	,	,	PUNCT
alkej-356	128	7	it	it	PRON
alkej-356	128	8	is	be	AUX
alkej-356	128	9	easily	easily	ADV
alkej-356	128	10	to	to	PART
alkej-356	128	11	find	find	VERB
alkej-356	128	12	the	the	DET
alkej-356	128	13	optimal	optimal	ADJ
alkej-356	128	14	gain	gain	NOUN
alkej-356	128	15	matrix	matrix	NOUN
alkej-356	128	16	f	f	X
alkej-356	129	1	f	f	PROPN
alkej-356	130	1	=	=	PROPN
alkej-356	130	2	.	.	PUNCT
alkej-356	131	1	0.0000	0.0000	NUM
alkej-356	131	2	−0.0001−0.4664	−0.0001−0.4664	NOUN
alkej-356	131	3	2.6086	2.6086	NUM
alkej-356	131	4	/	/	SYM
alkej-356	131	5	based	base	VERB
alkej-356	131	6	on	on	ADP
alkej-356	131	7	critical	critical	ADJ
alkej-356	131	8	value	value	NOUN
alkej-356	131	9	of	of	ADP
alkej-356	131	10	m	m	PROPN
alkej-356	131	11	=	=	NOUN
alkej-356	131	12	17.086	17.086	NUM
alkej-356	131	13	,	,	PUNCT
alkej-356	131	14	which	which	PRON
alkej-356	131	15	lead	lead	VERB
alkej-356	131	16	to	to	ADP
alkej-356	131	17	positive	positive	ADJ
alkej-356	131	18	definite	definite	ADJ
alkej-356	131	19	matrix	matrix	NOUN
alkej-356	131	20	solution	solution	NOUN
alkej-356	131	21	and	and	CCONJ
alkej-356	131	22	stable	stable	ADJ
alkej-356	131	23	closed	closed	ADJ
alkej-356	131	24	loop	loop	NOUN
alkej-356	131	25	system	system	NOUN
alkej-356	131	26	,	,	PUNCT
alkej-356	131	27	the	the	DET
alkej-356	131	28	matrix	matrix	NOUN
alkej-356	131	29	y	y	NOUN
alkej-356	131	30	resulting	result	VERB
alkej-356	131	31	from	from	ADP
alkej-356	131	32	eq.(31	eq.(31	NOUN
alkej-356	131	33	)	)	PUNCT
alkej-356	131	34	is	be	AUX
alkej-356	131	35	given	give	VERB
alkej-356	131	36	by	by	ADP
alkej-356	131	37	d	d	PROPN
alkej-356	131	38	=	=	PUNCT
alkej-356	131	39	.	.	PUNCT
alkej-356	132	1	3.5822	3.5822	NUM
alkej-356	132	2	−3.2982−3.2982	−3.2982−3.2982	NOUN
alkej-356	132	3	7.02982	7.02982	NUM
alkej-356	132	4	/	/	SYM
alkej-356	132	5	this	this	PRON
alkej-356	132	6	gives	give	VERB
alkej-356	132	7	the	the	DET
alkej-356	132	8	following	follow	VERB
alkej-356	132	9	feedback	feedback	NOUN
alkej-356	132	10	gain	gain	NOUN
alkej-356	132	11	matrix	matrix	NOUN
alkej-356	132	12	f	f	NOUN
alkej-356	133	1	=	=	PUNCT
alkej-356	133	2	.	.	PUNCT
alkej-356	134	1	0.0123	0.0123	NUM
alkej-356	134	2	−0.0113−27.4853	−0.0113−27.4853	NUM
alkej-356	134	3	58.5570	58.5570	NUM
alkej-356	134	4	/	/	PUNCT
alkej-356	134	5	to	to	PART
alkej-356	134	6	determine	determine	VERB
alkej-356	134	7	the	the	DET
alkej-356	134	8	stability	stability	NOUN
alkej-356	134	9	of	of	ADP
alkej-356	134	10	the	the	DET
alkej-356	134	11	system	system	NOUN
alkej-356	134	12	one	one	PRON
alkej-356	134	13	can	can	AUX
alkej-356	134	14	easily	easily	ADV
alkej-356	134	15	substitute	substitute	VERB
alkej-356	134	16	the	the	DET
alkej-356	134	17	values	value	NOUN
alkej-356	134	18	of	of	ADP
alkej-356	134	19	gain	gain	NOUN
alkej-356	134	20	matrix	matrix	NOUN
alkej-356	134	21	kinto	kinto	ADP
alkej-356	134	22	the	the	DET
alkej-356	134	23	closed	close	VERB
alkej-356	134	24	loop	loop	NOUN
alkej-356	134	25	equation	equation	NOUN
alkej-356	134	26	represented	represent	VERB
alkej-356	134	27	by	by	ADP
alkej-356	134	28	eq.(5	eq.(5	NOUN
alkej-356	134	29	)	)	PUNCT
alkej-356	134	30	and	and	CCONJ
alkej-356	134	31	find	find	VERB
alkej-356	134	32	the	the	DET
alkej-356	134	33	location	location	NOUN
alkej-356	134	34	of	of	ADP
alkej-356	134	35	the	the	DET
alkej-356	134	36	closed	closed	ADJ
alkej-356	134	37	loop	loop	NOUN
alkej-356	134	38	as	as	ADP
alkej-356	134	39	in	in	ADP
alkej-356	134	40	the	the	DET
alkej-356	134	41	following	following	ADJ
alkej-356	134	42	manner	manner	NOUN
alkej-356	134	43	:	:	PUNCT
alkej-356	134	44	)	)	PUNCT
alkej-356	134	45	�	�	PROPN
alkej-356	134	46	=	=	SYM
alkej-356	134	47	�	�	PROPN
alkej-356	134	48	6	6	NUM
alkej-356	134	49	−	−	PROPN
alkej-356	134	50	7f	7f	NUM
alkej-356	134	51	�	�	PROPN
alkej-356	134	52	)	)	PUNCT
alkej-356	134	53	then	then	ADV
alkej-356	134	54	,	,	PUNCT
alkej-356	134	55	the	the	DET
alkej-356	134	56	eigenvalues	eigenvalue	NOUN
alkej-356	134	57	of	of	ADP
alkej-356	134	58	the	the	DET
alkej-356	134	59	matrix	matrix	NOUN
alkej-356	134	60	(	(	PUNCT
alkej-356	134	61	6	6	NUM
alkej-356	134	62	−	−	PROPN
alkej-356	134	63	7f	7f	NOUN
alkej-356	134	64	)	)	PUNCT
alkej-356	134	65	are	be	AUX
alkej-356	134	66	the	the	DET
alkej-356	134	67	roots	root	NOUN
alkej-356	134	68	of	of	ADP
alkej-356	134	69	the	the	DET
alkej-356	134	70	characteristic	characteristic	ADJ
alkej-356	134	71	equation	equation	NOUN
alkej-356	134	72	which	which	PRON
alkej-356	134	73	calculated	calculate	VERB
alkej-356	134	74	as	as	SCONJ
alkej-356	134	75	follows	follow	VERB
alkej-356	134	76	[	[	X
alkej-356	134	77	18	18	NUM
alkej-356	134	78	]	]	X
alkej-356	134	79	|z	|z	PROPN
alkej-356	134	80	{	{	PUNCT
alkej-356	135	1	−	−	NUM
alkej-356	135	2	6	6	NUM
alkej-356	135	3	+	+	CCONJ
alkej-356	135	4	7f|=	7f|=	NOUN
alkej-356	135	5	|.z	|.z	NOUN
alkej-356	135	6	00	00	NUM
alkej-356	135	7	z/	z/	NOUN
alkej-356	135	8	−	−	NOUN
alkej-356	135	9	.−0.0280	.−0.0280	PUNCT
alkej-356	136	1	−0.5720	−0.5720	PROPN
alkej-356	136	2	−0.093/	−0.093/	ADV
alkej-356	136	3	+	+	CCONJ
alkej-356	136	4	,	,	PUNCT
alkej-356	136	5	1	1	NUM
alkej-356	136	6	00	00	NUM
alkej-356	136	7	1/120	1/120	NUM
alkej-356	136	8	.	.	PUNCT
alkej-356	136	9	0	0	NUM
alkej-356	137	1	0−0.4664	0−0.4664	PROPN
alkej-356	137	2	2.6086/|	2.6086/|	NUM
alkej-356	137	3	=	=	PUNCT
alkej-356	137	4	}	}	PUNCT
alkej-356	137	5	.z	.z	PUNCT
alkej-356	138	1	+	+	PUNCT
alkej-356	138	2	0.0280	0.0280	NUM
alkej-356	138	3	−0.5720	−0.5720	PROPN
alkej-356	138	4	z	z	NOUN
alkej-356	138	5	+	+	CCONJ
alkej-356	138	6	0.093/	0.093/	NUM
alkej-356	139	1	+	+	NUM
alkej-356	139	2	.	.	NOUN
alkej-356	139	3	0	0	NUM
alkej-356	140	1	0−0.0039	0−0.0039	NOUN
alkej-356	140	2	0.2174/	0.2174/	NUM
alkej-356	140	3	}	}	PUNCT
alkej-356	140	4	=	=	PUNCT
alkej-356	140	5	}	}	PUNCT
alkej-356	140	6	.z	.z	PUNCT
alkej-356	141	1	+	+	CCONJ
alkej-356	141	2	0.0280	0.0280	NUM
alkej-356	141	3	−0.572−0.0039	−0.572−0.0039	NOUN
alkej-356	141	4	z	z	NOUN
alkej-356	141	5	+	+	CCONJ
alkej-356	141	6	0.3104/	0.3104/	NOUN
alkej-356	141	7	}	}	PUNCT
alkej-356	141	8	solving	solve	VERB
alkej-356	141	9	for	for	ADP
alkej-356	141	10	λyields	λyield	NOUN
alkej-356	141	11	λ	λ	X
alkej-356	141	12	�	�	PROPN
alkej-356	141	13	=	=	SYM
alkej-356	141	14	−0.361	−0.361	NOUN
alkej-356	141	15	,	,	PUNCT
alkej-356	141	16	λ	λ	X
alkej-356	141	17	�	�	X
alkej-356	141	18	=	=	SYM
alkej-356	141	19	−3.023	−3.023	NOUN
alkej-356	141	20	repeating	repeat	VERB
alkej-356	141	21	the	the	DET
alkej-356	141	22	same	same	ADJ
alkej-356	141	23	procedure	procedure	NOUN
alkej-356	141	24	for	for	ADP
alkej-356	141	25	the	the	DET
alkej-356	141	26	optimal	optimal	ADJ
alkej-356	141	27	minimax	minimax	NOUN
alkej-356	141	28	controller	controller	NOUN
alkej-356	141	29	we	we	PRON
alkej-356	141	30	get	get	VERB
alkej-356	141	31	z	z	PROPN
alkej-356	141	32	�	�	X
alkej-356	141	33	=	=	SYM
alkej-356	141	34	−0.503	−0.503	PROPN
alkej-356	141	35	,	,	PUNCT
alkej-356	141	36	z	z	PROPN
alkej-356	141	37	�	�	PROPN
alkej-356	141	38	=	=	SYM
alkej-356	141	39	−5.587	−5.587	PROPN
alkej-356	141	40	initially	initially	ADV
alkej-356	141	41	,	,	PUNCT
alkej-356	141	42	both	both	DET
alkej-356	141	43	controllers	controller	NOUN
alkej-356	141	44	have	have	VERB
alkej-356	141	45	the	the	DET
alkej-356	141	46	roots	root	NOUN
alkej-356	141	47	in	in	ADP
alkej-356	141	48	the	the	DET
alkej-356	141	49	left	left	ADJ
alkej-356	141	50	hand	hand	NOUN
alkej-356	141	51	of	of	ADP
alkej-356	141	52	the	the	DET
alkej-356	141	53	s	s	NOUN
alkej-356	141	54	-	-	NOUN
alkej-356	141	55	plane	plane	NOUN
alkej-356	141	56	meaning	meaning	NOUN
alkej-356	141	57	that	that	SCONJ
alkej-356	141	58	the	the	DET
alkej-356	141	59	system	system	NOUN
alkej-356	141	60	under	under	ADP
alkej-356	141	61	the	the	DET
alkej-356	141	62	proposed	propose	VERB
alkej-356	141	63	controllers	controller	NOUN
alkej-356	141	64	is	be	AUX
alkej-356	141	65	stable	stable	ADJ
alkej-356	141	66	.	.	PUNCT
alkej-356	142	1	however	however	ADV
alkej-356	142	2	,	,	PUNCT
alkej-356	142	3	it	it	PRON
alkej-356	142	4	can	can	AUX
alkej-356	142	5	be	be	AUX
alkej-356	142	6	noted	note	VERB
alkej-356	142	7	that	that	SCONJ
alkej-356	142	8	with	with	ADP
alkej-356	142	9	the	the	DET
alkej-356	142	10	optimal	optimal	ADJ
alkej-356	142	11	minimax	minimax	NOUN
alkej-356	142	12	controller	controller	NOUN
alkej-356	142	13	the	the	DET
alkej-356	142	14	roots	root	NOUN
alkej-356	142	15	lie	lie	VERB
alkej-356	142	16	further	far	ADV
alkej-356	142	17	from	from	ADP
alkej-356	142	18	the	the	DET
alkej-356	142	19	origin	origin	NOUN
alkej-356	142	20	resulting	result	VERB
alkej-356	142	21	in	in	ADP
alkej-356	142	22	more	more	ADV
alkej-356	142	23	stable	stable	ADJ
alkej-356	142	24	performance	performance	NOUN
alkej-356	142	25	and	and	CCONJ
alkej-356	142	26	a	a	DET
alkej-356	142	27	faster	fast	ADJ
alkej-356	142	28	response	response	NOUN
alkej-356	142	29	.	.	PUNCT
alkej-356	143	1	figure	figure	NOUN
alkej-356	143	2	(	(	PUNCT
alkej-356	143	3	5	5	NUM
alkej-356	143	4	)	)	PUNCT
alkej-356	143	5	shows	show	VERB
alkej-356	143	6	the	the	DET
alkej-356	143	7	glucose	glucose	NOUN
alkej-356	143	8	level	level	NOUN
alkej-356	143	9	under	under	ADP
alkej-356	143	10	meal	meal	NOUN
alkej-356	143	11	disturbance	disturbance	NOUN
alkej-356	143	12	of	of	ADP
alkej-356	143	13	figure	figure	NOUN
alkej-356	143	14	(	(	PUNCT
alkej-356	143	15	2	2	NUM
alkej-356	143	16	)	)	PUNCT
alkej-356	143	17	with	with	ADP
alkej-356	143	18	different	different	ADJ
alkej-356	143	19	four	four	NUM
alkej-356	143	20	controllers	controller	NOUN
alkej-356	143	21	.	.	PUNCT
alkej-356	144	1	the	the	DET
alkej-356	144	2	figure	figure	NOUN
alkej-356	144	3	shows	show	VERB
alkej-356	144	4	that	that	SCONJ
alkej-356	144	5	the	the	DET
alkej-356	144	6	glucose	glucose	NOUN
alkej-356	144	7	level	level	NOUN
alkej-356	144	8	reaches	reach	VERB
alkej-356	144	9	136	136	NUM
alkej-356	144	10	(	(	PUNCT
alkej-356	144	11	mg	mg	PROPN
alkej-356	144	12	/	/	SYM
alkej-356	144	13	dl	dl	PROPN
alkej-356	144	14	)	)	PUNCT
alkej-356	144	15	when	when	SCONJ
alkej-356	144	16	using	use	VERB
alkej-356	144	17	classical	classical	ADJ
alkej-356	144	18	optimal	optimal	ADJ
alkej-356	144	19	lqr	lqr	NOUN
alkej-356	144	20	controller	controller	NOUN
alkej-356	144	21	.	.	PUNCT
alkej-356	145	1	this	this	PRON
alkej-356	145	2	stands	stand	VERB
alkej-356	145	3	for	for	ADP
alkej-356	145	4	12.36	12.36	NUM
alkej-356	145	5	%	%	NOUN
alkej-356	145	6	above	above	ADP
alkej-356	145	7	basal	basal	NOUN
alkej-356	145	8	glucose	glucose	NOUN
alkej-356	145	9	level	level	NOUN
alkej-356	145	10	.	.	PUNCT
alkej-356	146	1	however	however	ADV
alkej-356	146	2	,	,	PUNCT
alkej-356	146	3	minimax	minimax	NOUN
alkej-356	146	4	optimal	optimal	ADJ
alkej-356	146	5	controller	controller	NOUN
alkej-356	146	6	could	could	AUX
alkej-356	146	7	reduce	reduce	VERB
alkej-356	146	8	the	the	DET
alkej-356	146	9	maximum	maximum	ADJ
alkej-356	146	10	value	value	NOUN
alkej-356	146	11	of	of	ADP
alkej-356	146	12	glucose	glucose	NOUN
alkej-356	146	13	level	level	NOUN
alkej-356	146	14	to	to	PART
alkej-356	146	15	reach	reach	VERB
alkej-356	146	16	to	to	ADP
alkej-356	146	17	125	125	NUM
alkej-356	146	18	(	(	PUNCT
alkej-356	146	19	mg	mg	PROPN
alkej-356	146	20	/	/	SYM
alkej-356	146	21	dl	dl	PROPN
alkej-356	146	22	)	)	PUNCT
alkej-356	146	23	,	,	PUNCT
alkej-356	146	24	which	which	PRON
alkej-356	146	25	is	be	AUX
alkej-356	146	26	about	about	ADV
alkej-356	146	27	11.36	11.36	NUM
alkej-356	146	28	%	%	NOUN
alkej-356	146	29	above	above	ADP
alkej-356	146	30	the	the	DET
alkej-356	146	31	basal	basal	ADJ
alkej-356	146	32	level	level	NOUN
alkej-356	146	33	.	.	PUNCT
alkej-356	147	1	sliding	slide	VERB
alkej-356	147	2	mode	mode	NOUN
alkej-356	147	3	controller	controller	NOUN
alkej-356	147	4	(	(	PUNCT
alkej-356	147	5	smc	smc	PROPN
alkej-356	147	6	)	)	PUNCT
alkej-356	147	7	gives	give	VERB
alkej-356	147	8	better	well	ADJ
alkej-356	147	9	performance	performance	NOUN
alkej-356	147	10	than	than	ADP
alkej-356	147	11	both	both	CCONJ
alkej-356	147	12	optimal	optimal	ADJ
alkej-356	147	13	controllers	controller	NOUN
alkej-356	147	14	.	.	PUNCT
alkej-356	148	1	with	with	ADP
alkej-356	148	2	this	this	DET
alkej-356	148	3	controller	controller	NOUN
alkej-356	148	4	,	,	PUNCT
alkej-356	148	5	the	the	DET
alkej-356	148	6	maximum	maximum	ADJ
alkej-356	148	7	glucose	glucose	NOUN
alkej-356	148	8	level	level	NOUN
alkej-356	148	9	does	do	AUX
alkej-356	148	10	not	not	PART
alkej-356	148	11	exceed	exceed	VERB
alkej-356	148	12	123	123	NUM
alkej-356	148	13	(	(	PUNCT
alkej-356	148	14	mg	mg	PROPN
alkej-356	148	15	/	/	SYM
alkej-356	148	16	dl	dl	PROPN
alkej-356	148	17	)	)	PUNCT
alkej-356	148	18	;	;	PUNCT
alkej-356	148	19	i.e	i.e	X
alkej-356	148	20	,	,	PUNCT
alkej-356	148	21	the	the	DET
alkej-356	148	22	controller	controller	NOUN
alkej-356	148	23	permits	permit	VERB
alkej-356	148	24	11.18	11.18	NUM
alkej-356	148	25	%	%	NOUN
alkej-356	148	26	change	change	NOUN
alkej-356	148	27	over	over	ADP
alkej-356	148	28	the	the	DET
alkej-356	148	29	basal	basal	NOUN
alkej-356	148	30	glucose	glucose	NOUN
alkej-356	148	31	level	level	NOUN
alkej-356	148	32	.	.	PUNCT
alkej-356	149	1	it	it	PRON
alkej-356	149	2	is	be	AUX
alkej-356	149	3	evident	evident	ADJ
alkej-356	149	4	from	from	ADP
alkej-356	149	5	the	the	DET
alkej-356	149	6	figure	figure	NOUN
alkej-356	149	7	that	that	SCONJ
alkej-356	149	8	integral	integral	ADJ
alkej-356	149	9	sliding	slide	VERB
alkej-356	149	10	mode	mode	NOUN
alkej-356	149	11	controller	controller	NOUN
alkej-356	149	12	shows	show	VERB
alkej-356	149	13	the	the	DET
alkej-356	149	14	best	good	ADJ
alkej-356	149	15	robustness	robustness	NOUN
alkej-356	149	16	characteristics	characteristic	NOUN
alkej-356	149	17	than	than	ADP
alkej-356	149	18	all	all	DET
alkej-356	149	19	the	the	DET
alkej-356	149	20	above	above	ADJ
alkej-356	149	21	controllers	controller	NOUN
alkej-356	149	22	.	.	PUNCT
alkej-356	150	1	the	the	DET
alkej-356	150	2	percentage	percentage	NOUN
alkej-356	150	3	change	change	NOUN
alkej-356	150	4	of	of	ADP
alkej-356	150	5	ismc	ismc	NOUN
alkej-356	150	6	is	be	AUX
alkej-356	150	7	approximately	approximately	ADV
alkej-356	150	8	10.63	10.63	NUM
alkej-356	150	9	%	%	NOUN
alkej-356	150	10	above	above	ADP
alkej-356	150	11	the	the	DET
alkej-356	150	12	basal	basal	ADJ
alkej-356	150	13	level	level	NOUN
alkej-356	150	14	which	which	PRON
alkej-356	150	15	is	be	AUX
alkej-356	150	16	the	the	DET
alkej-356	150	17	minimum	minimum	ADJ
alkej-356	150	18	percentage	percentage	NOUN
alkej-356	150	19	than	than	ADP
alkej-356	150	20	others	other	NOUN
alkej-356	150	21	.	.	PUNCT
alkej-356	151	1	t	t	PROPN
alkej-356	151	2	time	time	NOUN
alkej-356	151	3	table	table	NOUN
alkej-356	151	4	in	in	ADP
alkej-356	151	5	insulin	insulin	NOUN
alkej-356	151	6	input	input	NOUN
alkej-356	151	7	h	h	NOUN
alkej-356	151	8	h(t	h(t	PROPN
alkej-356	151	9	)	)	PUNCT
alkej-356	152	1	g	g	NOUN
alkej-356	152	2	glucose	glucose	NOUN
alkej-356	152	3	level	level	NOUN
alkej-356	152	4	-cbasal	-cbasal	NOUN
alkej-356	152	5	insulin	insulin	NOUN
alkej-356	152	6	level	level	NOUN
alkej-356	152	7	switch	switch	NOUN
alkej-356	152	8	in1	in1	ADJ
alkej-356	152	9	in2	in2	PROPN
alkej-356	152	10	out1	out1	PROPN
alkej-356	152	11	lqr	lqr	VERB
alkej-356	152	12	1	1	NUM
alkej-356	152	13	/	/	SYM
alkej-356	152	14	s	s	VERB
alkej-356	152	15	integrator2	integrator2	ADJ
alkej-356	152	16	1	1	NUM
alkej-356	152	17	/	/	SYM
alkej-356	152	18	s	s	VERB
alkej-356	152	19	integrator1	integrator1	ADJ
alkej-356	152	20	1	1	NUM
alkej-356	152	21	/	/	SYM
alkej-356	152	22	s	s	NOUN
alkej-356	152	23	integrator	integrator	NOUN
alkej-356	152	24	g	g	PROPN
alkej-356	152	25	y	y	PROPN
alkej-356	152	26	z	z	PROPN
alkej-356	152	27	uo	uo	PROPN
alkej-356	152	28	u1	u1	PROPN
alkej-356	152	29	dz	dz	PROPN
alkej-356	152	30	fcn	fcn	PROPN
alkej-356	152	31	integral	integral	ADJ
alkej-356	152	32	sliding	slide	VERB
alkej-356	152	33	mode	mode	NOUN
alkej-356	153	1	g	g	PROPN
alkej-356	153	2	y	y	PROPN
alkej-356	153	3	h	h	NOUN
alkej-356	154	1	i	i	PRON
alkej-356	154	2	dg	dg	VERB
alkej-356	154	3	dy	dy	NOUN
alkej-356	154	4	fcn	fcn	PROPN
alkej-356	154	5	glucose	glucose	NOUN
alkej-356	154	6	model	model	NOUN
alkej-356	154	7	110	110	NUM
alkej-356	154	8	gb	gb	NOUN
alkej-356	154	9	clock	clock	NOUN
alkej-356	154	10	bashar	bashar	PROPN
alkej-356	154	11	fateh	fateh	PROPN
alkej-356	154	12	midhat	midhat	ADP
alkej-356	154	13	al	al	PROPN
alkej-356	154	14	-	-	PUNCT
alkej-356	154	15	khwarizmi	khwarizmi	PROPN
alkej-356	154	16	engineering	engineering	NOUN
alkej-356	154	17	journal	journal	PROPN
alkej-356	154	18	,	,	PUNCT
alkej-356	154	19	vol	vol	NOUN
alkej-356	154	20	.	.	PROPN
alkej-356	155	1	13	13	NUM
alkej-356	155	2	,	,	PUNCT
alkej-356	155	3	no	no	INTJ
alkej-356	155	4	.	.	NOUN
alkej-356	155	5	3	3	NUM
alkej-356	155	6	,	,	PUNCT
alkej-356	155	7	p.p	p.p	PROPN
alkej-356	155	8	.	.	NOUN
alkej-356	155	9	5563	5563	NUM
alkej-356	155	10	(	(	PUNCT
alkej-356	155	11	2017	2017	NUM
alkej-356	155	12	)	)	PUNCT
alkej-356	155	13	61	61	NUM
alkej-356	155	14	fig	fig	NOUN
alkej-356	155	15	.	.	PUNCT
alkej-356	156	1	5	5	X
alkej-356	156	2	.	.	X
alkej-356	156	3	plasma	plasma	NOUN
alkej-356	156	4	glucose	glucose	NOUN
alkej-356	156	5	level	level	NOUN
alkej-356	156	6	figure	figure	NOUN
alkej-356	156	7	(	(	PUNCT
alkej-356	156	8	6	6	NUM
alkej-356	156	9	)	)	PUNCT
alkej-356	156	10	shows	show	VERB
alkej-356	156	11	the	the	DET
alkej-356	156	12	insulin	insulin	NOUN
alkej-356	156	13	rate	rate	NOUN
alkej-356	156	14	resulting	result	VERB
alkej-356	156	15	from	from	ADP
alkej-356	156	16	each	each	DET
alkej-356	156	17	controller	controller	NOUN
alkej-356	156	18	.	.	PUNCT
alkej-356	157	1	it	it	PRON
alkej-356	157	2	has	have	AUX
alkej-356	157	3	been	be	AUX
alkej-356	157	4	shown	show	VERB
alkej-356	157	5	that	that	SCONJ
alkej-356	157	6	the	the	DET
alkej-356	157	7	more	more	ADV
alkej-356	157	8	robust	robust	ADJ
alkej-356	157	9	controller	controller	NOUN
alkej-356	157	10	,	,	PUNCT
alkej-356	157	11	the	the	DET
alkej-356	157	12	higher	high	ADJ
alkej-356	157	13	level	level	NOUN
alkej-356	157	14	of	of	ADP
alkej-356	157	15	insulin	insulin	NOUN
alkej-356	157	16	rate	rate	NOUN
alkej-356	157	17	which	which	PRON
alkej-356	157	18	is	be	AUX
alkej-356	157	19	taken	take	VERB
alkej-356	157	20	by	by	ADP
alkej-356	157	21	human	human	ADJ
alkej-356	157	22	body	body	NOUN
alkej-356	157	23	.	.	PUNCT
alkej-356	158	1	this	this	PRON
alkej-356	158	2	physically	physically	ADV
alkej-356	158	3	indicates	indicate	VERB
alkej-356	158	4	that	that	SCONJ
alkej-356	158	5	more	more	ADJ
alkej-356	158	6	robust	robust	ADJ
alkej-356	158	7	controller	controller	NOUN
alkej-356	158	8	of	of	ADP
alkej-356	158	9	requires	require	VERB
alkej-356	158	10	more	more	ADJ
alkej-356	158	11	insulin	insulin	NOUN
alkej-356	158	12	rate	rate	NOUN
alkej-356	158	13	to	to	PART
alkej-356	158	14	be	be	AUX
alkej-356	158	15	injected	inject	VERB
alkej-356	158	16	;	;	PUNCT
alkej-356	158	17	this	this	PRON
alkej-356	158	18	is	be	AUX
alkej-356	158	19	the	the	DET
alkej-356	158	20	price	price	NOUN
alkej-356	158	21	of	of	ADP
alkej-356	158	22	robustness	robustness	NOUN
alkej-356	158	23	.	.	PUNCT
alkej-356	159	1	fig	fig	NOUN
alkej-356	159	2	.	.	PUNCT
alkej-356	160	1	6	6	X
alkej-356	160	2	.	.	X
alkej-356	160	3	plasma	plasma	NOUN
alkej-356	160	4	glucose	glucose	NOUN
alkej-356	160	5	level	level	NOUN
alkej-356	160	6	.	.	PUNCT
alkej-356	161	1	5	5	X
alkej-356	161	2	.	.	X
alkej-356	161	3	conclusion	conclusion	NOUN
alkej-356	161	4	in	in	ADP
alkej-356	161	5	this	this	DET
alkej-356	161	6	paper	paper	NOUN
alkej-356	161	7	,	,	PUNCT
alkej-356	161	8	different	different	ADJ
alkej-356	161	9	controllers	controller	NOUN
alkej-356	161	10	were	be	AUX
alkej-356	161	11	addressed	address	VERB
alkej-356	161	12	for	for	ADP
alkej-356	161	13	the	the	DET
alkej-356	161	14	problem	problem	NOUN
alkej-356	161	15	of	of	ADP
alkej-356	161	16	blood	blood	NOUN
alkej-356	161	17	glucose	glucose	NOUN
alkej-356	161	18	concentration	concentration	NOUN
alkej-356	161	19	level	level	NOUN
alkej-356	161	20	control	control	NOUN
alkej-356	161	21	.	.	PUNCT
alkej-356	162	1	simulation	simulation	NOUN
alkej-356	162	2	was	be	AUX
alkej-356	162	3	performed	perform	VERB
alkej-356	162	4	using	use	VERB
alkej-356	162	5	matlab	matlab	PROPN
alkej-356	162	6	/	/	SYM
alkej-356	162	7	simulink	simulink	NOUN
alkej-356	162	8	in	in	ADP
alkej-356	162	9	order	order	NOUN
alkej-356	162	10	to	to	PART
alkej-356	162	11	investigate	investigate	VERB
alkej-356	162	12	the	the	DET
alkej-356	162	13	performance	performance	NOUN
alkej-356	162	14	of	of	ADP
alkej-356	162	15	suggested	suggest	VERB
alkej-356	162	16	proposed	propose	VERB
alkej-356	162	17	controllers	controller	NOUN
alkej-356	162	18	under	under	ADP
alkej-356	162	19	a	a	DET
alkej-356	162	20	meal	meal	NOUN
alkej-356	162	21	disturbance	disturbance	NOUN
alkej-356	162	22	.	.	PUNCT
alkej-356	163	1	the	the	DET
alkej-356	163	2	four	four	NUM
alkej-356	163	3	designed	design	VERB
alkej-356	163	4	controllers	controller	NOUN
alkej-356	163	5	could	could	AUX
alkej-356	163	6	successfully	successfully	ADV
alkej-356	163	7	control	control	VERB
alkej-356	163	8	the	the	DET
alkej-356	163	9	glucose	glucose	NOUN
alkej-356	163	10	level	level	NOUN
alkej-356	163	11	successfully	successfully	ADV
alkej-356	163	12	and	and	CCONJ
alkej-356	163	13	retain	retain	VERB
alkej-356	163	14	the	the	DET
alkej-356	163	15	glucose	glucose	NOUN
alkej-356	163	16	level	level	NOUN
alkej-356	163	17	back	back	ADV
alkej-356	163	18	to	to	ADP
alkej-356	163	19	its	its	PRON
alkej-356	163	20	basal	basal	ADJ
alkej-356	163	21	level	level	NOUN
alkej-356	163	22	.	.	PUNCT
alkej-356	164	1	however	however	ADV
alkej-356	164	2	,	,	PUNCT
alkej-356	164	3	the	the	DET
alkej-356	164	4	simulation	simulation	NOUN
alkej-356	164	5	has	have	AUX
alkej-356	164	6	showed	show	VERB
alkej-356	164	7	relative	relative	ADJ
alkej-356	164	8	differences	difference	NOUN
alkej-356	164	9	in	in	ADP
alkej-356	164	10	the	the	DET
alkej-356	164	11	performance	performance	NOUN
alkej-356	164	12	of	of	ADP
alkej-356	164	13	addressed	address	VERB
alkej-356	164	14	controllers	controller	NOUN
alkej-356	164	15	.	.	PUNCT
alkej-356	165	1	it	it	PRON
alkej-356	165	2	can	can	AUX
alkej-356	165	3	be	be	AUX
alkej-356	165	4	noted	note	VERB
alkej-356	165	5	that	that	SCONJ
alkej-356	165	6	the	the	DET
alkej-356	165	7	integral	integral	ADJ
alkej-356	165	8	sliding	slide	VERB
alkej-356	165	9	mode	mode	NOUN
alkej-356	165	10	gives	give	VERB
alkej-356	165	11	the	the	DET
alkej-356	165	12	best	good	ADJ
alkej-356	165	13	disturbance	disturbance	NOUN
alkej-356	165	14	rejection	rejection	NOUN
alkej-356	165	15	capability	capability	NOUN
alkej-356	165	16	over	over	ADP
alkej-356	165	17	other	other	ADJ
alkej-356	165	18	controllers	controller	NOUN
alkej-356	165	19	such	such	ADJ
alkej-356	165	20	that	that	SCONJ
alkej-356	165	21	it	it	PRON
alkej-356	165	22	prevents	prevent	VERB
alkej-356	165	23	the	the	DET
alkej-356	165	24	glucose	glucose	NOUN
alkej-356	165	25	level	level	NOUN
alkej-356	165	26	to	to	PART
alkej-356	165	27	exceed	exceed	VERB
alkej-356	165	28	118	118	NUM
alkej-356	165	29	mg	mg	PROPN
alkej-356	165	30	/	/	SYM
alkej-356	165	31	dl	dl	PROPN
alkej-356	165	32	.	.	PROPN
alkej-356	165	33	moreover	moreover	ADV
alkej-356	165	34	,	,	PUNCT
alkej-356	165	35	sliding	slide	VERB
alkej-356	165	36	mode	mode	NOUN
alkej-356	165	37	controller	controller	NOUN
alkej-356	165	38	outperforms	outperform	VERB
alkej-356	165	39	the	the	DET
alkej-356	165	40	characteristics	characteristic	NOUN
alkej-356	165	41	of	of	ADP
alkej-356	165	42	minmax	minmax	PROPN
alkej-356	165	43	controllers	controller	NOUN
alkej-356	165	44	.	.	PUNCT
alkej-356	166	1	the	the	DET
alkej-356	166	2	latter	latter	ADJ
alkej-356	166	3	could	could	AUX
alkej-356	166	4	keep	keep	VERB
alkej-356	166	5	the	the	DET
alkej-356	166	6	glucose	glucose	NOUN
alkej-356	166	7	level	level	NOUN
alkej-356	166	8	within	within	ADP
alkej-356	166	9	125	125	NUM
alkej-356	166	10	mg	mg	PROPN
alkej-356	166	11	/	/	SYM
alkej-356	166	12	dl	dl	PROPN
alkej-356	166	13	.	.	PUNCT
alkej-356	166	14	however	however	ADV
alkej-356	166	15	,	,	PUNCT
alkej-356	166	16	it	it	PRON
alkej-356	166	17	can	can	AUX
alkej-356	166	18	be	be	AUX
alkej-356	166	19	seen	see	VERB
alkej-356	166	20	that	that	SCONJ
alkej-356	166	21	the	the	DET
alkej-356	166	22	optimal	optimal	ADJ
alkej-356	166	23	lqr	lqr	NOUN
alkej-356	166	24	controller	controller	NOUN
alkej-356	166	25	have	have	VERB
alkej-356	166	26	the	the	DET
alkej-356	166	27	worst	bad	ADJ
alkej-356	166	28	performance	performance	NOUN
alkej-356	166	29	where	where	SCONJ
alkej-356	166	30	the	the	DET
alkej-356	166	31	glucose	glucose	NOUN
alkej-356	166	32	level	level	NOUN
alkej-356	166	33	reaches	reach	VERB
alkej-356	166	34	the	the	DET
alkej-356	166	35	value	value	NOUN
alkej-356	166	36	of	of	ADP
alkej-356	166	37	135	135	NUM
alkej-356	166	38	mg	mg	PROPN
alkej-356	166	39	/	/	SYM
alkej-356	166	40	dl	dl	PROPN
alkej-356	166	41	.	.	PROPN
alkej-356	166	42	from	from	ADP
alkej-356	166	43	fig	fig	NOUN
alkej-356	166	44	.	.	PUNCT
alkej-356	167	1	(	(	PUNCT
alkej-356	167	2	6	6	NUM
alkej-356	167	3	)	)	PUNCT
alkej-356	167	4	,	,	PUNCT
alkej-356	167	5	it	it	PRON
alkej-356	167	6	can	can	AUX
alkej-356	167	7	be	be	AUX
alkej-356	167	8	concluded	conclude	VERB
alkej-356	167	9	the	the	DET
alkej-356	167	10	price	price	NOUN
alkej-356	167	11	of	of	ADP
alkej-356	167	12	getting	get	VERB
alkej-356	167	13	better	well	ADJ
alkej-356	167	14	control	control	NOUN
alkej-356	167	15	performance	performance	NOUN
alkej-356	167	16	is	be	AUX
alkej-356	167	17	the	the	DET
alkej-356	167	18	increased	increase	VERB
alkej-356	167	19	level	level	NOUN
alkej-356	167	20	of	of	ADP
alkej-356	167	21	insulin	insulin	NOUN
alkej-356	167	22	infusion	infusion	NOUN
alkej-356	167	23	in	in	ADP
alkej-356	167	24	order	order	NOUN
alkej-356	167	25	to	to	PART
alkej-356	167	26	counteract	counteract	VERB
alkej-356	167	27	the	the	DET
alkej-356	167	28	glucose	glucose	NOUN
alkej-356	167	29	evolution	evolution	NOUN
alkej-356	167	30	.	.	PUNCT
alkej-356	168	1	therefore	therefore	ADV
alkej-356	168	2	,	,	PUNCT
alkej-356	168	3	it	it	PRON
alkej-356	168	4	can	can	AUX
alkej-356	168	5	be	be	AUX
alkej-356	168	6	noted	note	VERB
alkej-356	168	7	that	that	SCONJ
alkej-356	168	8	the	the	DET
alkej-356	168	9	integral	integral	ADJ
alkej-356	168	10	sliding	slide	VERB
alkej-356	168	11	mode	mode	NOUN
alkej-356	168	12	has	have	VERB
alkej-356	168	13	the	the	DET
alkej-356	168	14	highest	high	ADJ
alkej-356	168	15	insulin	insulin	NOUN
alkej-356	168	16	infusion	infusion	NOUN
alkej-356	168	17	compared	compare	VERB
alkej-356	168	18	to	to	ADP
alkej-356	168	19	the	the	DET
alkej-356	168	20	other	other	ADJ
alkej-356	168	21	controllers	controller	NOUN
alkej-356	168	22	,	,	PUNCT
alkej-356	168	23	while	while	SCONJ
alkej-356	168	24	the	the	DET
alkej-356	168	25	lowest	low	ADJ
alkej-356	168	26	level	level	NOUN
alkej-356	168	27	is	be	AUX
alkej-356	168	28	shown	show	VERB
alkej-356	168	29	in	in	ADP
alkej-356	168	30	lqr	lqr	PROPN
alkej-356	168	31	controller	controller	NOUN
alkej-356	168	32	.	.	PUNCT
alkej-356	169	1	6	6	NUM
alkej-356	169	2	.	.	NUM
alkej-356	169	3	references	reference	NOUN
alkej-356	169	4	[	[	X
alkej-356	169	5	1	1	X
alkej-356	169	6	]	]	X
alkej-356	169	7	bergman	bergman	PROPN
alkej-356	169	8	r.n	r.n	PROPN
alkej-356	169	9	.	.	PROPN
alkej-356	169	10	,	,	PUNCT
alkej-356	169	11	philips	philips	PROPN
alkej-356	169	12	l.s	l.s	PROPN
alkej-356	169	13	.	.	PROPN
alkej-356	169	14	,	,	PUNCT
alkej-356	169	15	cobelli	cobelli	PROPN
alkej-356	169	16	c.	c.	PROPN
alkej-356	169	17	,	,	PUNCT
alkej-356	169	18	"	"	PUNCT
alkej-356	169	19	physiologic	physiologic	ADJ
alkej-356	169	20	evaluation	evaluation	NOUN
alkej-356	169	21	of	of	ADP
alkej-356	169	22	factors	factor	NOUN
alkej-356	169	23	controlling	control	VERB
alkej-356	169	24	glucose	glucose	NOUN
alkej-356	169	25	tolerance	tolerance	NOUN
alkej-356	169	26	in	in	ADP
alkej-356	169	27	man	man	NOUN
alkej-356	169	28	,	,	PUNCT
alkej-356	169	29	journal	journal	NOUN
alkej-356	169	30	of	of	ADP
alkej-356	169	31	clinical	clinical	ADJ
alkej-356	169	32	investigation	investigation	NOUN
alkej-356	169	33	,	,	PUNCT
alkej-356	169	34	"	"	PUNCT
alkej-356	169	35	vol.68	vol.68	PROPN
alkej-356	169	36	,	,	PUNCT
alkej-356	169	37	pp	pp	ADJ
alkej-356	169	38	.	.	PUNCT
alkej-356	169	39	1456–1467	1456–1467	NUM
alkej-356	169	40	,	,	PUNCT
alkej-356	169	41	1981	1981	NUM
alkej-356	169	42	.	.	PUNCT
alkej-356	170	1	[	[	X
alkej-356	170	2	2	2	X
alkej-356	170	3	]	]	X
alkej-356	170	4	o.	o.	PROPN
alkej-356	170	5	vega	vega	PROPN
alkej-356	170	6	-	-	PUNCT
alkej-356	170	7	hernandez	hernandez	PROPN
alkej-356	170	8	,	,	PUNCT
alkej-356	170	9	d.	d.	PROPN
alkej-356	170	10	u.	u.	PROPN
alkej-356	170	11	campos	campos	PROPN
alkej-356	170	12	-	-	PUNCT
alkej-356	170	13	delgado	delgado	PROPN
alkej-356	170	14	,	,	PUNCT
alkej-356	170	15	and	and	CCONJ
alkej-356	170	16	d.	d.	PROPN
alkej-356	170	17	r.	r.	PROPN
alkej-356	170	18	espinoza	espinoza	PROPN
alkej-356	170	19	trejo	trejo	PROPN
alkej-356	170	20	,	,	PUNCT
alkej-356	170	21	"	"	PUNCT
alkej-356	170	22	increasing	increase	VERB
alkej-356	170	23	security	security	NOUN
alkej-356	170	24	in	in	ADP
alkej-356	170	25	an	an	DET
alkej-356	170	26	artificial	artificial	ADJ
alkej-356	170	27	pancreas	pancreas	NOUN
alkej-356	170	28	:	:	PUNCT
alkej-356	170	29	diagnosis	diagnosis	NOUN
alkej-356	170	30	of	of	ADP
alkej-356	170	31	actuator	actuator	NOUN
alkej-356	170	32	faults	fault	NOUN
alkej-356	170	33	,	,	PUNCT
alkej-356	170	34	"	"	PUNCT
alkej-356	170	35	proc	proc	NOUN
alkej-356	170	36	.	.	PUNCT
alkej-356	171	1	of	of	ADP
alkej-356	171	2	pan	pan	ADJ
alkej-356	171	3	-	-	ADJ
alkej-356	171	4	american	american	ADJ
alkej-356	171	5	health	health	PROPN
alkej-356	171	6	care	care	PROPN
alkej-356	171	7	exchanges	exchange	NOUN
alkej-356	171	8	conference	conference	NOUN
alkej-356	171	9	,	,	PUNCT
alkej-356	171	10	mexico	mexico	PROPN
alkej-356	171	11	city	city	PROPN
alkej-356	171	12	,	,	PUNCT
alkej-356	171	13	mexico	mexico	PROPN
alkej-356	171	14	,	,	PUNCT
alkej-356	171	15	pp	pp	X
alkej-356	171	16	.	.	PUNCT
alkej-356	171	17	137	137	NUM
alkej-356	171	18	-	-	SYM
alkej-356	171	19	142	142	NUM
alkej-356	171	20	,	,	PUNCT
alkej-356	171	21	2009	2009	NUM
alkej-356	171	22	.	.	PUNCT
alkej-356	172	1	[	[	X
alkej-356	172	2	3	3	X
alkej-356	172	3	]	]	X
alkej-356	172	4	v.	v.	PROPN
alkej-356	172	5	r.	r.	PROPN
alkej-356	172	6	kondepati	kondepati	PROPN
alkej-356	172	7	and	and	CCONJ
alkej-356	172	8	h.	h.	PROPN
alkej-356	172	9	m.	m.	PROPN
alkej-356	172	10	heise	heise	PROPN
alkej-356	172	11	,	,	PUNCT
alkej-356	172	12	"	"	PUNCT
alkej-356	172	13	recent	recent	ADJ
alkej-356	172	14	progress	progress	NOUN
alkej-356	172	15	in	in	ADP
alkej-356	172	16	analytical	analytical	ADJ
alkej-356	172	17	instrumentation	instrumentation	NOUN
alkej-356	172	18	for	for	ADP
alkej-356	172	19	glycemic	glycemic	ADJ
alkej-356	172	20	control	control	NOUN
alkej-356	172	21	in	in	ADP
alkej-356	172	22	diabetic	diabetic	ADJ
alkej-356	172	23	and	and	CCONJ
alkej-356	172	24	critically	critically	ADV
alkej-356	172	25	ill	ill	ADJ
alkej-356	172	26	patients	patient	NOUN
alkej-356	172	27	,	,	PUNCT
alkej-356	172	28	"	"	PUNCT
alkej-356	172	29	anal	anal	ADJ
alkej-356	172	30	bional.chem	bional.chem	NOUN
alkej-356	172	31	.	.	PUNCT
alkej-356	172	32	,	,	PUNCT
alkej-356	172	33	vol	vol	NOUN
alkej-356	172	34	.	.	PUNCT
alkej-356	173	1	38,pp	38,pp	NUM
alkej-356	173	2	.	.	PUNCT
alkej-356	173	3	545563	545563	NUM
alkej-356	173	4	,	,	PUNCT
alkej-356	173	5	2007	2007	NUM
alkej-356	173	6	.	.	PUNCT
alkej-356	174	1	[	[	X
alkej-356	174	2	4	4	NUM
alkej-356	174	3	]	]	X
alkej-356	174	4	thomson	thomson	PROPN
alkej-356	174	5	,	,	PUNCT
alkej-356	174	6	s.	s.	PROPN
alkej-356	174	7	,	,	PUNCT
alkej-356	174	8	d.	d.	PROPN
alkej-356	174	9	beaven	beaven	NOUN
alkej-356	174	10	,	,	PUNCT
alkej-356	174	11	m.	m.	NOUN
alkej-356	174	12	jamieson	jamieson	PROPN
alkej-356	174	13	,	,	PUNCT
alkej-356	174	14	s.	s.	PROPN
alkej-356	174	15	snively	snively	ADV
alkej-356	174	16	,	,	PUNCT
alkej-356	174	17	a.howl	a.howl	NOUN
alkej-356	174	18	and	and	CCONJ
alkej-356	174	19	a.	a.	NOUN
alkej-356	174	20	christophersen	christophersen	PROPN
alkej-356	174	21	,	,	PUNCT
alkej-356	174	22	"	"	PUNCT
alkej-356	174	23	type	type	NOUN
alkej-356	174	24	ii	ii	NOUN
alkej-356	174	25	diabetes	diabetes	NOUN
alkej-356	174	26	:	:	PUNCT
alkej-356	174	27	managing	manage	VERB
alkej-356	174	28	for	for	ADP
alkej-356	174	29	better	well	ADJ
alkej-356	174	30	health	health	NOUN
alkej-356	174	31	outcomes	outcome	NOUN
alkej-356	174	32	,	,	PUNCT
alkej-356	174	33	"	"	PUNCT
alkej-356	174	34	in	in	ADP
alkej-356	174	35	pricewater	pricewater	PROPN
alkej-356	174	36	house	house	NOUN
alkej-356	174	37	coopers	coopers	PROPN
alkej-356	174	38	report	report	PROPN
alkej-356	174	39	,	,	PUNCT
alkej-356	174	40	diabetes	diabete	VERB
alkej-356	174	41	new	new	PROPN
alkej-356	174	42	zealand	zealand	PROPN
alkej-356	174	43	inc	inc	PROPN
alkej-356	174	44	.	.	PROPN
alkej-356	174	45	,	,	PUNCT
alkej-356	174	46	2001	2001	NUM
alkej-356	174	47	.	.	PUNCT
alkej-356	175	1	[	[	X
alkej-356	175	2	5	5	NUM
alkej-356	175	3	]	]	SYM
alkej-356	175	4	topp	topp	PROPN
alkej-356	175	5	,	,	PUNCT
alkej-356	175	6	b.	b.	PROPN
alkej-356	175	7	,	,	PUNCT
alkej-356	175	8	k.	k.	PROPN
alkej-356	175	9	promislow	promislow	PROPN
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alkej-356	175	11	g.	g.	PROPN
alkej-356	175	12	de	de	PROPN
alkej-356	175	13	vries	vries	PROPN
alkej-356	175	14	,	,	PUNCT
alkej-356	175	15	"	"	PUNCT
alkej-356	175	16	a	a	DET
alkej-356	175	17	model	model	NOUN
alkej-356	175	18	of	of	ADP
alkej-356	175	19	�	�	PROPN
alkej-356	175	20	-cell	-cell	PROPN
alkej-356	175	21	mass	mass	NOUN
alkej-356	175	22	,	,	PUNCT
alkej-356	175	23	insulin	insulin	NOUN
alkej-356	175	24	and	and	CCONJ
alkej-356	175	25	glucose	glucose	NOUN
alkej-356	175	26	kinetics	kinetic	NOUN
alkej-356	175	27	,	,	PUNCT
alkej-356	175	28	"	"	PUNCT
alkej-356	175	29	pathways	pathway	NOUN
alkej-356	175	30	to	to	ADP
alkej-356	175	31	diabetes	diabetes	NOUN
alkej-356	175	32	.	.	PUNCT
alkej-356	176	1	j.	j.	PROPN
alkej-356	176	2	theor	theor	PROPN
alkej-356	176	3	.	.	PUNCT
alkej-356	177	1	bio	bio	PROPN
alkej-356	177	2	,	,	PUNCT
alkej-356	177	3	pp.605	pp.605	NOUN
alkej-356	177	4	-	-	PUNCT
alkej-356	177	5	619	619	NUM
alkej-356	177	6	,	,	PUNCT
alkej-356	177	7	2000	2000	NUM
alkej-356	177	8	.	.	PUNCT
alkej-356	178	1	[	[	X
alkej-356	178	2	6	6	NUM
alkej-356	178	3	]	]	PUNCT
alkej-356	178	4	c.	c.	PROPN
alkej-356	178	5	li	li	PROPN
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alkej-356	178	7	r.	r.	PROPN
alkej-356	178	8	hu	hu	PROPN
alkej-356	178	9	,	,	PUNCT
alkej-356	178	10	"	"	PUNCT
alkej-356	178	11	pid	pid	NOUN
alkej-356	178	12	control	control	NOUN
alkej-356	178	13	based	base	VERB
alkej-356	178	14	on	on	ADP
alkej-356	178	15	bp	bp	PROPN
alkej-356	178	16	neural	neural	ADJ
alkej-356	178	17	network	network	NOUN
alkej-356	178	18	for	for	ADP
alkej-356	178	19	the	the	DET
alkej-356	178	20	regulation	regulation	NOUN
alkej-356	178	21	of	of	ADP
alkej-356	178	22	blood	blood	NOUN
alkej-356	178	23	glucose	glucose	NOUN
alkej-356	178	24	level	level	NOUN
alkej-356	178	25	in	in	ADP
alkej-356	178	26	diabetes	diabetes	NOUN
alkej-356	178	27	"	"	PUNCT
alkej-356	178	28	,	,	PUNCT
alkej-356	178	29	in	in	ADP
alkej-356	178	30	proceeding	proceeding	NOUN
alkej-356	178	31	of	of	ADP
alkej-356	178	32	the	the	DET
alkej-356	178	33	7th	7th	ADJ
alkej-356	178	34	ieee	ieee	NOUN
alkej-356	178	35	international	international	ADJ
alkej-356	178	36	conference	conference	NOUN
alkej-356	178	37	on	on	ADP
alkej-356	178	38	bioinformatics	bioinformatics	NOUN
alkej-356	178	39	and	and	CCONJ
alkej-356	178	40	bioengineering	bioengineering	NOUN
alkej-356	178	41	,	,	PUNCT
alkej-356	178	42	boston	boston	PROPN
alkej-356	178	43	,	,	PUNCT
alkej-356	178	44	pp	pp	X
alkej-356	178	45	.	.	PUNCT
alkej-356	178	46	1168	1168	NUM
alkej-356	178	47	-	-	SYM
alkej-356	178	48	1172	1172	NUM
alkej-356	178	49	,	,	PUNCT
alkej-356	178	50	2007	2007	NUM
alkej-356	178	51	.	.	PUNCT
alkej-356	179	1	[	[	X
alkej-356	179	2	7	7	NUM
alkej-356	179	3	]	]	X
alkej-356	179	4	chee	chee	NOUN
alkej-356	179	5	f	f	NOUN
alkej-356	179	6	,	,	PUNCT
alkej-356	179	7	fernando	fernando	PROPN
alkej-356	179	8	tl	tl	PROPN
alkej-356	179	9	,	,	PUNCT
alkej-356	179	10	savkin	savkin	PROPN
alkej-356	179	11	av	av	PROPN
alkej-356	179	12	,	,	PUNCT
alkej-356	179	13	heeden	heeden	ADJ
alkej-356	179	14	vv	vv	NOUN
alkej-356	179	15	.	.	PUNCT
alkej-356	179	16	"	"	PUNCT
alkej-356	179	17	expert	expert	ADJ
alkej-356	179	18	pid	pid	NOUN
alkej-356	179	19	control	control	NOUN
alkej-356	179	20	system	system	NOUN
alkej-356	179	21	for	for	ADP
alkej-356	179	22	blood	blood	NOUN
alkej-356	179	23	0	0	NUM
alkej-356	179	24	200	200	NUM
alkej-356	179	25	400	400	NUM
alkej-356	179	26	600	600	NUM
alkej-356	179	27	15	15	NUM
alkej-356	179	28	20	20	NUM
alkej-356	179	29	25	25	NUM
alkej-356	179	30	30	30	NUM
alkej-356	179	31	35	35	NUM
alkej-356	179	32	time	time	NOUN
alkej-356	179	33	(	(	PUNCT
alkej-356	179	34	min	min	NOUN
alkej-356	179	35	)	)	PUNCT
alkej-356	179	36	i	i	PROPN
alkej-356	179	37	(	(	PUNCT
alkej-356	179	38	t	t	PROPN
alkej-356	179	39	)	)	PUNCT
alkej-356	179	40	(	(	PUNCT
alkej-356	179	41	m	m	VERB
alkej-356	179	42	u	u	NOUN
alkej-356	179	43	/m	/m	PUNCT
alkej-356	179	44	in	in	ADP
alkej-356	179	45	)	)	PUNCT
alkej-356	179	46	lqr	lqr	VERB
alkej-356	179	47	minimax	minimax	PROPN
alkej-356	179	48	smc	smc	PROPN
alkej-356	179	49	ismc	ismc	PROPN
alkej-356	179	50	0	0	NUM
alkej-356	180	1	200	200	NUM
alkej-356	180	2	400	400	NUM
alkej-356	180	3	600	600	NUM
alkej-356	180	4	105	105	NUM
alkej-356	180	5	110	110	NUM
alkej-356	180	6	115	115	NUM
alkej-356	180	7	120	120	NUM
alkej-356	180	8	125	125	NUM
alkej-356	180	9	130	130	NUM
alkej-356	180	10	135	135	NUM
alkej-356	180	11	140	140	NUM
alkej-356	180	12	time(min	time(min	NOUN
alkej-356	180	13	)	)	PUNCT
alkej-356	180	14	g	g	NOUN
alkej-356	180	15	(	(	PUNCT
alkej-356	180	16	t	t	PROPN
alkej-356	180	17	)	)	PUNCT
alkej-356	180	18	(	(	PUNCT
alkej-356	180	19	m	m	VERB
alkej-356	180	20	g	g	NOUN
alkej-356	180	21	/d	/d	SYM
alkej-356	180	22	l	l	NOUN
alkej-356	180	23	)	)	PUNCT
alkej-356	180	24	lqr	lqr	VERB
alkej-356	180	25	minimax	minimax	PROPN
alkej-356	180	26	smc	smc	PROPN
alkej-356	180	27	ismc	ismc	PROPN
alkej-356	180	28	bashar	bashar	PROPN
alkej-356	180	29	fateh	fateh	PROPN
alkej-356	180	30	midhat	midhat	PROPN
alkej-356	180	31	al	al	PROPN
alkej-356	180	32	-	-	PUNCT
alkej-356	180	33	khwarizmi	khwarizmi	PROPN
alkej-356	180	34	engineering	engineering	NOUN
alkej-356	180	35	journal	journal	PROPN
alkej-356	180	36	,	,	PUNCT
alkej-356	180	37	vol	vol	NOUN
alkej-356	180	38	.	.	PROPN
alkej-356	180	39	13	13	NUM
alkej-356	180	40	,	,	PUNCT
alkej-356	180	41	no	no	INTJ
alkej-356	180	42	.	.	NOUN
alkej-356	180	43	3	3	NUM
alkej-356	180	44	,	,	PUNCT
alkej-356	180	45	p.p	p.p	PROPN
alkej-356	180	46	.	.	NOUN
alkej-356	180	47	5563	5563	NUM
alkej-356	180	48	(	(	PUNCT
alkej-356	180	49	2017	2017	NUM
alkej-356	180	50	)	)	PUNCT
alkej-356	180	51	62	62	NUM
alkej-356	180	52	glucose	glucose	NOUN
alkej-356	180	53	control	control	NOUN
alkej-356	180	54	in	in	ADP
alkej-356	180	55	critically	critically	ADV
alkej-356	180	56	ill	ill	ADJ
alkej-356	180	57	patients	patient	NOUN
alkej-356	180	58	,	,	PUNCT
alkej-356	180	59	"	"	PUNCT
alkej-356	180	60	ieee	ieee	NOUN
alkej-356	180	61	transactions	transaction	NOUN
alkej-356	180	62	on	on	ADP
alkej-356	180	63	information	information	NOUN
alkej-356	180	64	technology	technology	NOUN
alkej-356	180	65	in	in	ADP
alkej-356	180	66	biomedicine	biomedicine	NOUN
alkej-356	180	67	,	,	PUNCT
alkej-356	180	68	pp.419	pp.419	X
alkej-356	180	69	–	–	PUNCT
alkej-356	180	70	425	425	NUM
alkej-356	180	71	,	,	PUNCT
alkej-356	180	72	2003	2003	NUM
alkej-356	180	73	.	.	PUNCT
alkej-356	181	1	[	[	X
alkej-356	181	2	8	8	NUM
alkej-356	181	3	]	]	SYM
alkej-356	181	4	salzsieder	salzsieder	NOUN
alkej-356	181	5	e	e	NOUN
alkej-356	181	6	,	,	PUNCT
alkej-356	181	7	albrecht	albrecht	PROPN
alkej-356	181	8	g	g	PROPN
alkej-356	181	9	,	,	PUNCT
alkej-356	181	10	fischer	fischer	PROPN
alkej-356	181	11	u	u	PROPN
alkej-356	181	12	,	,	PUNCT
alkej-356	181	13	freyse	freyse	PROPN
alkej-356	181	14	ej	ej	PROPN
alkej-356	181	15	.	.	PUNCT
alkej-356	182	1	"	"	PUNCT
alkej-356	182	2	kinetic	kinetic	ADJ
alkej-356	182	3	modeling	modeling	NOUN
alkej-356	182	4	of	of	ADP
alkej-356	182	5	the	the	DET
alkej-356	182	6	glucoregulatory	glucoregulatory	NOUN
alkej-356	182	7	system	system	NOUN
alkej-356	182	8	to	to	PART
alkej-356	182	9	improve	improve	VERB
alkej-356	182	10	insulin	insulin	NOUN
alkej-356	182	11	therapy	therapy	NOUN
alkej-356	182	12	,	,	PUNCT
alkej-356	182	13	"	"	PUNCT
alkej-356	182	14	ieee	ieee	NOUN
alkej-356	182	15	transactions	transaction	NOUN
alkej-356	182	16	on	on	ADP
alkej-356	182	17	biomedical	biomedical	ADJ
alkej-356	182	18	engineering	engineering	NOUN
alkej-356	182	19	,	,	PUNCT
alkej-356	182	20	vol.32	vol.32	ADV
alkej-356	182	21	,	,	PUNCT
alkej-356	182	22	pp.846–855	pp.846–855	PROPN
alkej-356	182	23	,	,	PUNCT
alkej-356	182	24	1985	1985	NUM
alkej-356	182	25	.	.	PUNCT
alkej-356	183	1	[	[	X
alkej-356	183	2	9	9	NUM
alkej-356	183	3	]	]	X
alkej-356	183	4	parker	parker	PROPN
alkej-356	183	5	r.s	r.s	PROPN
alkej-356	183	6	.	.	PROPN
alkej-356	183	7	,	,	PUNCT
alkej-356	183	8	doyle	doyle	PROPN
alkej-356	183	9	f.j	f.j	PROPN
alkej-356	183	10	.	.	PROPN
alkej-356	183	11	,	,	PUNCT
alkej-356	183	12	peppas	peppa	VERB
alkej-356	183	13	na	na	ADP
alkej-356	183	14	.	.	PROPN
alkej-356	183	15	,	,	PUNCT
alkej-356	183	16	"	"	PUNCT
alkej-356	183	17	a	a	DET
alkej-356	183	18	model	model	NOUN
alkej-356	183	19	-	-	PUNCT
alkej-356	183	20	based	base	VERB
alkej-356	183	21	algorithm	algorithm	NOUN
alkej-356	183	22	for	for	ADP
alkej-356	183	23	blood	blood	NOUN
alkej-356	183	24	glucose	glucose	NOUN
alkej-356	183	25	control	control	NOUN
alkej-356	183	26	in	in	ADP
alkej-356	183	27	type	type	NOUN
alkej-356	183	28	i	i	PRON
alkej-356	183	29	diabetic	diabetic	ADJ
alkej-356	183	30	patients	patient	NOUN
alkej-356	183	31	,	,	PUNCT
alkej-356	183	32	"	"	PUNCT
alkej-356	183	33	ieee	ieee	NOUN
alkej-356	183	34	transactions	transaction	NOUN
alkej-356	183	35	on	on	ADP
alkej-356	183	36	biomedical	biomedical	ADJ
alkej-356	183	37	engineering	engineering	NOUN
alkej-356	183	38	,	,	PUNCT
alkej-356	183	39	vol.46	vol.46	PROPN
alkej-356	183	40	,	,	PUNCT
alkej-356	183	41	no.2	no.2	PROPN
alkej-356	183	42	,	,	PUNCT
alkej-356	183	43	pp.148–157	pp.148–157	PROPN
alkej-356	183	44	,	,	PUNCT
alkej-356	183	45	1999	1999	NUM
alkej-356	183	46	.	.	PUNCT
alkej-356	184	1	[	[	X
alkej-356	184	2	10	10	NUM
alkej-356	184	3	]	]	X
alkej-356	184	4	s.	s.	PROPN
alkej-356	184	5	m.	m.	PROPN
alkej-356	184	6	lynch	lynch	PROPN
alkej-356	184	7	and	and	CCONJ
alkej-356	184	8	b.	b.	PROPN
alkej-356	184	9	w.	w.	PROPN
alkej-356	184	10	bequette,"model	bequette,"model	PROPN
alkej-356	184	11	predictive	predictive	PROPN
alkej-356	184	12	control	control	NOUN
alkej-356	184	13	of	of	ADP
alkej-356	184	14	blood	blood	NOUN
alkej-356	184	15	glucose	glucose	NOUN
alkej-356	184	16	in	in	ADP
alkej-356	184	17	type	type	NOUN
alkej-356	184	18	i	i	PRON
alkej-356	184	19	diabetes	diabetes	VERB
alkej-356	184	20	using	use	VERB
alkej-356	184	21	subcutaneous	subcutaneous	ADJ
alkej-356	184	22	glucose	glucose	NOUN
alkej-356	184	23	measurements	measurement	NOUN
alkej-356	184	24	,	,	PUNCT
alkej-356	184	25	"	"	PUNCT
alkej-356	184	26	in	in	ADP
alkej-356	184	27	proceedings	proceeding	NOUN
alkej-356	184	28	of	of	ADP
alkej-356	184	29	the	the	DET
alkej-356	184	30	american	american	PROPN
alkej-356	184	31	control	control	PROPN
alkej-356	184	32	conference	conference	PROPN
alkej-356	184	33	,	,	PUNCT
alkej-356	184	34	u.s.a	u.s.a	NOUN
alkej-356	184	35	,	,	PUNCT
alkej-356	184	36	pp	pp	ADJ
alkej-356	184	37	.	.	PUNCT
alkej-356	185	1	4039–4040	4039–4040	NUM
alkej-356	185	2	,	,	PUNCT
alkej-356	185	3	may	may	PROPN
alkej-356	185	4	2002	2002	NUM
alkej-356	185	5	.	.	PUNCT
alkej-356	186	1	[	[	X
alkej-356	186	2	11	11	NUM
alkej-356	186	3	]	]	PUNCT
alkej-356	186	4	k.	k.	PROPN
alkej-356	186	5	beyki	beyki	PROPN
alkej-356	186	6	,	,	PUNCT
alkej-356	186	7	m.	m.	NOUN
alkej-356	186	8	dashti	dashti	NOUN
alkej-356	186	9	javan	javan	PROPN
alkej-356	186	10	,	,	PUNCT
alkej-356	186	11	k.	k.	PROPN
alkej-356	186	12	shojaee	shojaee	PROPN
alkej-356	186	13	and	and	CCONJ
alkej-356	186	14	m.m	m.m	PROPN
alkej-356	186	15	.	.	PROPN
alkej-356	186	16	neshati	neshati	PROPN
alkej-356	186	17	,	,	PUNCT
alkej-356	186	18	"	"	PUNCT
alkej-356	186	19	an	an	DET
alkej-356	186	20	intelligent	intelligent	ADJ
alkej-356	186	21	approach	approach	NOUN
alkej-356	186	22	for	for	ADP
alkej-356	186	23	optimal	optimal	ADJ
alkej-356	186	24	regulation	regulation	NOUN
alkej-356	186	25	of	of	ADP
alkej-356	186	26	blood	blood	NOUN
alkej-356	186	27	glucose	glucose	NOUN
alkej-356	186	28	level	level	NOUN
alkej-356	186	29	,	,	PUNCT
alkej-356	186	30	"	"	PUNCT
alkej-356	186	31	in	in	ADP
alkej-356	186	32	17th	17th	ADJ
alkej-356	186	33	iranian	iranian	ADJ
alkej-356	186	34	conference	conference	NOUN
alkej-356	186	35	of	of	ADP
alkej-356	186	36	biomedical	biomedical	ADJ
alkej-356	186	37	engineering	engineering	NOUN
alkej-356	186	38	,	,	PUNCT
alkej-356	186	39	pp.1	pp.1	NOUN
alkej-356	186	40	-	-	PUNCT
alkej-356	186	41	5	5	NUM
alkej-356	186	42	,	,	PUNCT
alkej-356	186	43	2010	2010	NUM
alkej-356	186	44	.	.	PUNCT
alkej-356	187	1	[	[	X
alkej-356	187	2	12	12	NUM
alkej-356	187	3	]	]	PUNCT
alkej-356	187	4	s.	s.	PROPN
alkej-356	187	5	yasini	yasini	PROPN
alkej-356	187	6	,	,	PUNCT
alkej-356	187	7	m.b	m.b	PROPN
alkej-356	187	8	.	.	PROPN
alkej-356	187	9	naghibi	naghibi	ADJ
alkej-356	187	10	-	-	PUNCT
alkej-356	187	11	sistani	sistani	PROPN
alkej-356	187	12	and	and	CCONJ
alkej-356	187	13	a.	a.	NOUN
alkej-356	187	14	karimpour	karimpour	NOUN
alkej-356	187	15	,	,	PUNCT
alkej-356	187	16	"	"	PUNCT
alkej-356	187	17	active	active	ADJ
alkej-356	187	18	insulin	insulin	NOUN
alkej-356	187	19	infusion	infusion	NOUN
alkej-356	187	20	using	use	VERB
alkej-356	187	21	fuzzy	fuzzy	ADV
alkej-356	187	22	-	-	PUNCT
alkej-356	187	23	based	base	VERB
alkej-356	187	24	closed	closed	ADJ
alkej-356	187	25	-	-	PUNCT
alkej-356	187	26	loop	loop	NOUN
alkej-356	187	27	control	control	NOUN
alkej-356	187	28	"	"	PUNCT
alkej-356	187	29	,	,	PUNCT
alkej-356	187	30	in	in	ADP
alkej-356	187	31	3rd	3rd	ADJ
alkej-356	187	32	international	international	ADJ
alkej-356	187	33	conference	conference	NOUN
alkej-356	187	34	on	on	ADP
alkej-356	187	35	intelligent	intelligent	ADJ
alkej-356	187	36	system	system	NOUN
alkej-356	187	37	and	and	CCONJ
alkej-356	187	38	knowledge	knowledge	NOUN
alkej-356	187	39	engineering	engineering	PROPN
alkej-356	187	40	,	,	PUNCT
alkej-356	187	41	mashhad	mashhad	PROPN
alkej-356	187	42	,	,	PUNCT
alkej-356	187	43	iran	iran	PROPN
alkej-356	187	44	,	,	PUNCT
alkej-356	187	45	pp	pp	ADJ
alkej-356	187	46	.	.	PUNCT
alkej-356	188	1	429	429	NUM
alkej-356	188	2	-	-	SYM
alkej-356	188	3	434	434	NUM
alkej-356	188	4	,	,	PUNCT
alkej-356	188	5	2008	2008	NUM
alkej-356	188	6	.	.	PUNCT
alkej-356	189	1	[	[	X
alkej-356	189	2	13	13	NUM
alkej-356	189	3	]	]	X
alkej-356	189	4	d.	d.	PROPN
alkej-356	189	5	n.	n.	PROPN
alkej-356	189	6	maryam	maryam	PROPN
alkej-356	189	7	abadi	abadi	PROPN
alkej-356	189	8	,	,	PUNCT
alkej-356	189	9	a.	a.	NOUN
alkej-356	189	10	alfi	alfi	PROPN
alkej-356	189	11	,	,	PUNCT
alkej-356	189	12	m.	m.	NOUN
alkej-356	189	13	siahi	siahi	PROPN
alkej-356	189	14	,	,	PUNCT
alkej-356	189	15	"	"	PUNCT
alkej-356	189	16	an	an	DET
alkej-356	189	17	improved	improve	VERB
alkej-356	189	18	fuzzy	fuzzy	ADJ
alkej-356	189	19	pi	pi	NOUN
alkej-356	189	20	controller	controller	NOUN
alkej-356	189	21	for	for	ADP
alkej-356	189	22	type	type	NOUN
alkej-356	189	23	1	1	NUM
alkej-356	189	24	diabetes	diabetes	NOUN
alkej-356	189	25	,	,	PUNCT
alkej-356	189	26	"	"	PUNCT
alkej-356	189	27	research	research	NOUN
alkej-356	189	28	journal	journal	NOUN
alkej-356	189	29	of	of	ADP
alkej-356	189	30	applied	apply	VERB
alkej-356	189	31	sciences	science	NOUN
alkej-356	189	32	,	,	PUNCT
alkej-356	189	33	engineering	engineering	NOUN
alkej-356	189	34	and	and	CCONJ
alkej-356	189	35	technology	technology	NOUN
alkej-356	189	36	,	,	PUNCT
alkej-356	189	37	vol.4	vol.4	PROPN
alkej-356	189	38	,	,	PUNCT
alkej-356	189	39	no.21	no.21	PROPN
alkej-356	189	40	,	,	PUNCT
alkej-356	189	41	pp	pp	ADP
alkej-356	189	42	.	.	PUNCT
alkej-356	189	43	4417	4417	NUM
alkej-356	189	44	-	-	SYM
alkej-356	189	45	4422	4422	NUM
alkej-356	189	46	,	,	PUNCT
alkej-356	189	47	2012	2012	NUM
alkej-356	189	48	.	.	PUNCT
alkej-356	190	1	[	[	X
alkej-356	190	2	14	14	NUM
alkej-356	190	3	]	]	X
alkej-356	190	4	levente	levente	PROPN
alkej-356	190	5	kovacs	kovacs	PROPN
alkej-356	190	6	,	,	PUNCT
alkej-356	190	7	béla	béla	NOUN
alkej-356	190	8	palancz	palancz	PROPN
alkej-356	190	9	,	,	PUNCT
alkej-356	190	10	endre	endre	PROPN
alkej-356	190	11	borbely	borbely	ADV
alkej-356	190	12	,	,	PUNCT
alkej-356	190	13	"	"	PUNCT
alkej-356	190	14	robust	robust	ADJ
alkej-356	190	15	control	control	NOUN
alkej-356	190	16	algorithm	algorithm	NOUN
alkej-356	190	17	for	for	ADP
alkej-356	190	18	blood	blood	NOUN
alkej-356	190	19	glucose	glucose	NOUN
alkej-356	190	20	control	control	NOUN
alkej-356	190	21	using	use	VERB
alkej-356	190	22	mathematica	mathematica	PROPN
alkej-356	190	23	,	,	PUNCT
alkej-356	190	24	"	"	PUNCT
alkej-356	190	25	acta	acta	PROPN
alkej-356	190	26	electrotechnicaet	electrotechnicaet	PROPN
alkej-356	190	27	informatica	informatica	PROPN
alkej-356	190	28	,	,	PUNCT
alkej-356	190	29	vol	vol	NOUN
alkej-356	190	30	.	.	PROPN
alkej-356	190	31	10	10	NUM
alkej-356	190	32	,	,	PUNCT
alkej-356	190	33	no	no	INTJ
alkej-356	190	34	.	.	NOUN
alkej-356	190	35	2	2	NUM
alkej-356	190	36	,	,	PUNCT
alkej-356	190	37	pp	pp	ADJ
alkej-356	190	38	.	.	PUNCT
alkej-356	190	39	10–15	10–15	NUM
alkej-356	190	40	,	,	PUNCT
alkej-356	190	41	2010	2010	NUM
alkej-356	190	42	.	.	PUNCT
alkej-356	191	1	[	[	X
alkej-356	191	2	15	15	NUM
alkej-356	191	3	]	]	X
alkej-356	191	4	levente	levente	PROPN
alkej-356	191	5	kovacs	kovacs	PROPN
alkej-356	191	6	,	,	PUNCT
alkej-356	191	7	béla	béla	NOUN
alkej-356	191	8	palancz	palancz	NOUN
alkej-356	191	9	,	,	PUNCT
alkej-356	191	10	"	"	PUNCT
alkej-356	191	11	glucoseinsulin	glucoseinsulin	NOUN
alkej-356	191	12	control	control	NOUN
alkej-356	191	13	of	of	ADP
alkej-356	191	14	type1	type1	PROPN
alkej-356	191	15	diabetic	diabetic	ADJ
alkej-356	191	16	patients	patient	NOUN
alkej-356	191	17	in	in	ADP
alkej-356	191	18	�	�	PROPN
alkej-356	191	19	�	�	PROPN
alkej-356	191	20	�	�	PROPN
alkej-356	191	21	�	�	PROPN
alkej-356	191	22	⁄	⁄	PROPN
alkej-356	191	23	space	space	NOUN
alkej-356	191	24	via	via	ADP
alkej-356	191	25	computer	computer	NOUN
alkej-356	191	26	algebra	algebra	NOUN
alkej-356	191	27	,	,	PUNCT
alkej-356	191	28	"	"	PUNCT
alkej-356	191	29	2nd	2nd	ADJ
alkej-356	191	30	international	international	ADJ
alkej-356	191	31	conference	conference	NOUN
alkej-356	191	32	,	,	PUNCT
alkej-356	191	33	australia	australia	PROPN
alkej-356	191	34	,	,	PUNCT
alkej-356	191	35	july	july	PROPN
alkej-356	191	36	,	,	PUNCT
alkej-356	191	37	2007	2007	NUM
alkej-356	191	38	.	.	PUNCT
alkej-356	192	1	[	[	X
alkej-356	192	2	16	16	NUM
alkej-356	192	3	]	]	X
alkej-356	192	4	vadim	vadim	PROPN
alkej-356	192	5	utkin	utkin	PROPN
alkej-356	192	6	,	,	PUNCT
alkej-356	192	7	jürgen	jürgen	PROPN
alkej-356	192	8	guldner	guldner	PROPN
alkej-356	192	9	,	,	PUNCT
alkej-356	192	10	jingxin	jingxin	PROPN
alkej-356	192	11	shi	shi	PROPN
alkej-356	192	12	,	,	PUNCT
alkej-356	192	13	"	"	PUNCT
alkej-356	192	14	sliding	slide	VERB
alkej-356	192	15	mode	mode	NOUN
alkej-356	192	16	control	control	NOUN
alkej-356	192	17	in	in	ADP
alkej-356	192	18	electromechanical	electromechanical	ADJ
alkej-356	192	19	systems	system	NOUN
alkej-356	192	20	,	,	PUNCT
alkej-356	192	21	"	"	PUNCT
alkej-356	192	22	crc	crc	NOUN
alkej-356	192	23	press	press	NOUN
alkej-356	192	24	,	,	PUNCT
alkej-356	192	25	2009	2009	NUM
alkej-356	192	26	.	.	PUNCT
alkej-356	193	1	[	[	X
alkej-356	193	2	17	17	NUM
alkej-356	193	3	]	]	PUNCT
alkej-356	193	4	jinkun	jinkun	PROPN
alkej-356	193	5	liu	liu	PROPN
alkej-356	193	6	,	,	PUNCT
alkej-356	193	7	xinhua	xinhua	PROPN
alkej-356	193	8	wang	wang	PROPN
alkej-356	193	9	,	,	PUNCT
alkej-356	193	10	"	"	PUNCT
alkej-356	193	11	control	control	NOUN
alkej-356	193	12	for	for	ADP
alkej-356	193	13	mechanical	mechanical	ADJ
alkej-356	193	14	systems	system	NOUN
alkej-356	193	15	design	design	NOUN
alkej-356	193	16	,	,	PUNCT
alkej-356	193	17	analysis	analysis	NOUN
alkej-356	193	18	and	and	CCONJ
alkej-356	193	19	matlab	matlab	PROPN
alkej-356	193	20	simulation	simulation	NOUN
alkej-356	193	21	,	,	PUNCT
alkej-356	193	22	"	"	PUNCT
alkej-356	193	23	tsinghua	tsinghua	PROPN
alkej-356	193	24	university	university	PROPN
alkej-356	193	25	press	press	NOUN
alkej-356	193	26	,	,	PUNCT
alkej-356	193	27	beijing	beijing	PROPN
alkej-356	193	28	and	and	CCONJ
alkej-356	193	29	springer	springer	NOUN
alkej-356	193	30	-	-	PUNCT
alkej-356	193	31	verlag	verlag	PROPN
alkej-356	193	32	berlin	berlin	PROPN
alkej-356	193	33	heidelberg	heidelberg	PROPN
alkej-356	193	34	,	,	PUNCT
alkej-356	193	35	2012	2012	NUM
alkej-356	193	36	.	.	PUNCT
alkej-356	194	1	[	[	X
alkej-356	194	2	18	18	NUM
alkej-356	194	3	]	]	X
alkej-356	194	4	donald	donald	PROPN
alkej-356	194	5	e.	e.	PROPN
alkej-356	194	6	kirk	kirk	PROPN
alkej-356	194	7	,	,	PUNCT
alkej-356	194	8	"	"	PUNCT
alkej-356	194	9	optimal	optimal	ADJ
alkej-356	194	10	control	control	NOUN
alkej-356	194	11	theory	theory	NOUN
alkej-356	194	12	:	:	PUNCT
alkej-356	194	13	introduction	introduction	NOUN
alkej-356	194	14	,	,	PUNCT
alkej-356	194	15	"	"	PUNCT
alkej-356	194	16	dover	dover	PROPN
alkej-356	194	17	publications	publication	NOUN
alkej-356	194	18	,	,	PUNCT
alkej-356	194	19	inc	inc	PROPN
alkej-356	194	20	.	.	PROPN
alkej-356	194	21	,	,	PUNCT
alkej-356	194	22	1998	1998	NUM
alkej-356	194	23	.	.	PUNCT
alkej-356	195	1	appendix	appendix	NOUN
alkej-356	195	2	(	(	PUNCT
alkej-356	195	3	a	a	X
alkej-356	195	4	)	)	PUNCT
alkej-356	195	5	matlab	matlab	PROPN
alkej-356	195	6	function	function	NOUN
alkej-356	195	7	of	of	ADP
alkej-356	195	8	solution	solution	NOUN
alkej-356	195	9	of	of	ADP
alkej-356	195	10	equation	equation	NOUN
alkej-356	195	11	(	(	PUNCT
alkej-356	195	12	12	12	NUM
alkej-356	195	13	)	)	PUNCT
alkej-356	195	14	,	,	PUNCT
alkej-356	195	15	using	use	VERB
alkej-356	195	16	care	care	NOUN
alkej-356	195	17	function	function	NOUN
alkej-356	195	18	;	;	PUNCT
alkej-356	195	19	gama=17.086	gama=17.086	NUM
alkej-356	195	20	;	;	PUNCT
alkej-356	195	21	c=[1	c=[1	NUM
alkej-356	195	22	0	0	NUM
alkej-356	195	23	]	]	PUNCT
alkej-356	195	24	;	;	PUNCT
alkej-356	195	25	q	q	X
alkej-356	195	26	=	=	NOUN
alkej-356	195	27	c'c	c'c	NOUN
alkej-356	195	28	l=[1;0	l=[1;0	NOUN
alkej-356	195	29	]	]	PUNCT
alkej-356	195	30	;	;	PUNCT
alkej-356	195	31	bu=[0	bu=[0	VERB
alkej-356	195	32	;	;	PUNCT
alkej-356	195	33	1/120	1/120	NUM
alkej-356	195	34	]	]	PUNCT
alkej-356	195	35	;	;	PUNCT
alkej-356	195	36	b=[l	b=[l	VERB
alkej-356	195	37	bu	bu	ADP
alkej-356	195	38	]	]	X
alkej-356	195	39	;	;	PUNCT
alkej-356	195	40	r=[-gama^2	r=[-gama^2	PROPN
alkej-356	195	41	0	0	NUM
alkej-356	195	42	;	;	PUNCT
alkej-356	195	43	0	0	NUM
alkej-356	195	44	1	1	NUM
alkej-356	195	45	]	]	PUNCT
alkej-356	195	46	;	;	PUNCT
alkej-356	195	47	pm	pm	NOUN
alkej-356	195	48	=	=	NOUN
alkej-356	195	49	care(a	care(a	PROPN
alkej-356	195	50	,	,	PUNCT
alkej-356	195	51	b	b	NOUN
alkej-356	195	52	,	,	PUNCT
alkej-356	195	53	q	q	NOUN
alkej-356	195	54	,	,	PUNCT
alkej-356	195	55	r	r	NOUN
alkej-356	195	56	)	)	PUNCT
alkej-356	195	57	km	km	NOUN
alkej-356	195	58	=	=	SYM
alkej-356	195	59	inv(r)*b'*pm	inv(r)*b'*pm	NOUN
alkej-356	195	60	appendix	appendix	VERB
alkej-356	195	61	(	(	PUNCT
alkej-356	195	62	b	b	X
alkej-356	195	63	)	)	PUNCT
alkej-356	195	64	the	the	DET
alkej-356	195	65	table	table	NOUN
alkej-356	195	66	below	below	ADP
alkej-356	195	67	lists	list	VERB
alkej-356	195	68	the	the	DET
alkej-356	195	69	data	datum	NOUN
alkej-356	195	70	of	of	ADP
alkej-356	195	71	disturbing	disturb	VERB
alkej-356	195	72	meal	meal	NOUN
alkej-356	195	73	behavior	behavior	NOUN
alkej-356	195	74	table	table	NOUN
alkej-356	195	75	1	1	NUM
alkej-356	195	76	,	,	PUNCT
alkej-356	195	77	disturbance	disturbance	NOUN
alkej-356	195	78	meal	meal	NOUN
alkej-356	195	79	function	function	NOUN
alkej-356	195	80	time	time	NOUN
alkej-356	195	81	(	(	PUNCT
alkej-356	195	82	t	t	NOUN
alkej-356	195	83	)	)	PUNCT
alkej-356	196	1	[	[	X
alkej-356	196	2	min	min	X
alkej-356	196	3	]	]	X
alkej-356	196	4	glucose	glucose	NOUN
alkej-356	196	5	(	(	PUNCT
alkej-356	196	6	h(t	h(t	PROPN
alkej-356	196	7	)	)	PUNCT
alkej-356	196	8	)	)	PUNCT
alkej-356	197	1	[	[	X
alkej-356	197	2	mg/(dl.min	mg/(dl.min	X
alkej-356	197	3	]	]	X
alkej-356	197	4	0	0	NUM
alkej-356	197	5	0	0	NUM
alkej-356	197	6	25	25	NUM
alkej-356	197	7	0.185	0.185	NUM
alkej-356	197	8	50	50	NUM
alkej-356	197	9	0.495	0.495	NUM
alkej-356	197	10	75	75	NUM
alkej-356	197	11	0.765	0.765	NUM
alkej-356	197	12	100	100	NUM
alkej-356	197	13	0.975	0.975	NUM
alkej-356	197	14	125	125	NUM
alkej-356	197	15	1.15	1.15	NUM
alkej-356	197	16	150	150	NUM
alkej-356	197	17	1.07	1.07	NUM
alkej-356	197	18	175	175	NUM
alkej-356	197	19	0.82	0.82	NUM
alkej-356	197	20	200	200	NUM
alkej-356	197	21	0.575	0.575	NUM
alkej-356	197	22	225	225	NUM
alkej-356	197	23	0.335	0.335	NUM
alkej-356	197	24	250	250	NUM
alkej-356	197	25	0.225	0.225	NUM
alkej-356	197	26	275	275	NUM
alkej-356	197	27	0.145	0.145	NUM
alkej-356	197	28	300	300	NUM
alkej-356	197	29	0.098	0.098	NUM
alkej-356	197	30	325	325	NUM
alkej-356	197	31	0.06	0.06	NUM
alkej-356	197	32	350	350	NUM
alkej-356	197	33	0.035	0.035	NUM
alkej-356	197	34	375	375	NUM
alkej-356	197	35	0.02	0.02	NUM
alkej-356	197	36	400	400	NUM
alkej-356	197	37	0.01	0.01	NUM
alkej-356	197	38	450	450	NUM
alkej-356	197	39	0.005	0.005	NUM
alkej-356	197	40	1000	1000	NUM
alkej-356	197	41	0	0	NUM
alkej-356	197	42	)	)	PUNCT
alkej-356	197	43	2017	2017	NUM
alkej-356	197	44	(	(	PUNCT
alkej-356	197	45	55	55	NUM
alkej-356	197	46	-	-	SYM
alkej-356	197	47	63	63	NUM
alkej-356	197	48	،	،	PROPN
alkej-356	197	49	صفحة	صفحة	PROPN
alkej-356	197	50	3د	3د	PROPN
alkej-356	197	51	،	،	PROPN
alkej-356	197	52	العد13دجلة	العد13دجلة	PROPN
alkej-356	197	53	الخوارزمي	الخوارزمي	PROPN
alkej-356	197	54	الهندسية	الهندسية	PROPN
alkej-356	197	55	المجلم	المجلم	PROPN
alkej-356	197	56	بشار	بشار	PROPN
alkej-356	197	57	فاتح	فاتح	PROPN
alkej-356	197	58	مدحت	مدحت	ADJ
alkej-356	197	59	63	63	NUM
alkej-356	197	60	تحت	تحت	NOUN
alkej-356	197	61	تاثير	تاثير	NOUN
alkej-356	197	62	جسم	جسم	PROPN
alkej-356	197	63	البشريالمقارنة	البشريالمقارنة	PROPN
alkej-356	197	64	االداء	االداء	PROPN
alkej-356	197	65	بين	بين	ADV
alkej-356	197	66	مسيطرات	مسيطرات	VERB
alkej-356	197	67	متقدمة	متقدمة	NUM
alkej-356	197	68	للسيطرة	للسيطرة	NOUN
alkej-356	197	69	على	على	NOUN
alkej-356	197	70	مستوى	مستوى	PROPN
alkej-356	197	71	السكر	السكر	NOUN
alkej-356	197	72	في	في	ADP
alkej-356	197	73	االضطراب	االضطراب	PROPN
alkej-356	197	74	الغذائي	الغذائي	PROPN
alkej-356	197	75	*	*	PUNCT
alkej-356	198	1	*	*	PUNCT
alkej-356	198	2	امجد	امجد	PROPN
alkej-356	198	3	جليل	جليل	PROPN
alkej-356	198	4	حميدي	حميدي	PROPN
alkej-356	198	5	*	*	PUNCT
alkej-356	198	6	مدحت	مدحت	ADJ
alkej-356	198	7	بشار	بشار	VERB
alkej-356	198	8	فاتح	فاتح	NOUN
alkej-356	198	9	الجامعة	الجامعة	NOUN
alkej-356	198	10	التكنولوجية/	التكنولوجية/	NUM
alkej-356	198	11	قسم	قسم	PROPN
alkej-356	198	12	هندسة	هندسة	NOUN
alkej-356	198	13	السيطرة	السيطرة	PROPN
alkej-356	199	1	والنظم	والنظم	PROPN
alkej-356	199	2	*	*	NOUN
alkej-356	199	3	,	,	PUNCT
alkej-356	199	4	*	*	PUNCT
alkej-356	199	5	*	*	PUNCT
alkej-356	199	6	basharfm88@yahoo.com	basharfm88@yahoo.com	X
alkej-356	199	7	:	:	PUNCT
alkej-356	199	8	البريد	البريد	VERB
alkej-356	199	9	االلكتروني	االلكتروني	NOUN
alkej-356	199	10	*	*	PUNCT
alkej-356	199	11	aaaacontrol2010@yahoo.com	aaaacontrol2010@yahoo.com	X
alkej-356	200	1	:	:	PUNCT
alkej-356	200	2	البريد	البريد	VERB
alkej-356	200	3	االلكتروني	االلكتروني	PROPN
alkej-356	200	4	*	*	PUNCT
alkej-356	200	5	*	*	PROPN
alkej-356	200	6	الخالصة	الخالصة	PROPN
alkej-356	200	7	السيطرة	السيطرة	PROPN
alkej-356	200	8	على	على	PROPN
alkej-356	200	9	تركيز	تركيز	NOUN
alkej-356	200	10	الكلوكوز	الكلوكوز	PROPN
alkej-356	200	11	في	في	ADP
alkej-356	200	12	الجسم	الجسم	PROPN
alkej-356	200	13	البشري	البشري	PROPN
alkej-356	200	14	وذلك	وذلك	PROPN
alkej-356	200	15	باقتراح	باقتراح	PROPN
alkej-356	200	16	نوعين	نوعين	NOUN
alkej-356	200	17	من	من	PROPN
alkej-356	200	18	المسيطرات	المسيطرات	NOUN
alkej-356	200	19	:	:	PUNCT
alkej-356	200	20	المسيطرات	المسيطرات	VERB
alkej-356	200	21	المثالية	المثالية	NOUN
alkej-356	200	22	والمسيطرات	والمسيطرات	ADJ
alkej-356	200	23	ذات	ذات	NOUN
alkej-356	200	24	النمط	النمط	NOUN
alkej-356	200	25	تتم	تتم	X
alkej-356	200	26	البحثفي	البحثفي	ADV
alkej-356	200	27	هذا	هذا	NOUN
alkej-356	201	1	ن	ن	PRON
alkej-356	201	2	من	من	NOUN
alkej-356	201	3	المسيطرات	المسيطرات	NOUN
alkej-356	201	4	المثالية	المثالية	NOUN
alkej-356	201	5	التي	التي	PROPN
alkej-356	201	6	تم	تم	PROPN
alkej-356	201	7	ابخواص	ابخواص	PROPN
alkej-356	201	8	تقليل	تقليل	PROPN
alkej-356	201	9	تاثير	تاثير	VERB
alkej-356	201	10	االضطراب	االضطراب	PROPN
alkej-356	201	11	المسلط	المسلط	PROPN
alkej-356	201	12	على	على	NOUN
alkej-356	201	13	المنظومة	المنظومة	ADV
alkej-356	201	14	.	.	PUNCT
alkej-356	202	1	هناك	هناك	PROPN
alkej-356	202	2	نوعن	نوعن	NOUN
alkej-356	203	1	من	من	PRON
alkej-356	203	2	المسيطرات	المسيطرات	PROPN
alkej-356	203	3	االنوع	االنوع	PROPN
alkej-356	203	4	ذانهمتاز	ذانهمتاز	NOUN
alkej-356	203	5	.	.	PUNCT
alkej-356	204	1	اذ	اذ	NOUN
alkej-356	204	2	ياالنزالقي	ياالنزالقي	PROPN
alkej-356	204	3	العليا	العليا	PROPN
alkej-356	204	4	.	.	PUNCT
alkej-356	205	1	اما	اما	AUX
alkej-356	205	2	النوع	النوع	VERB
alkej-356	205	3	االخر	االخر	NOUN
alkej-356	205	4	فتم	فتم	PROPN
alkej-356	205	5	استخدام	استخدام	PROPN
alkej-356	205	6	مسيطرين	مسيطرين	PROPN
alkej-356	205	7	ذات	ذات	NOUN
alkej-356	205	8	النمط	النمط	PROPN
alkej-356	205	9	االنزالقي	االنزالقي	PROPN
alkej-356	205	10	وهما	وهما	PROPN
alkej-356	205	11	-طريقة	-طريقة	PROPN
alkej-356	205	12	الدنياالوهي	الدنياالوهي	PROPN
alkej-356	205	13	المسيطر	المسيطر	PROPN
alkej-356	205	14	المثالي	المثالي	PROPN
alkej-356	205	15	التقليدي	التقليدي	PROPN
alkej-356	205	16	والمسيطر	والمسيطر	PROPN
alkej-356	205	17	الذي	الذي	PROPN
alkej-356	205	18	يستند	يستند	VERB
alkej-356	205	19	على	على	PROPN
alkej-356	205	20	احاها	احاها	PROPN
alkej-356	205	21	اقتر	اقتر	PROPN
alkej-356	205	22	المسيطر	المسيطر	PROPN
alkej-356	205	23	التقليدي	التقليدي	PROPN
alkej-356	205	24	والتكاملي	والتكاملي	PROPN
alkej-356	205	25	.	.	PUNCT
alkej-356	206	1	فان	فان	PROPN
alkej-356	206	2	المسيطر	المسيطر	PROPN
alkej-356	206	3	ذات	ذات	PROPN
alkej-356	206	4	النمط	النمط	PROPN
alkej-356	206	5	االنزالقي	االنزالقي	PROPN
alkej-356	206	6	التكاملي	التكاملي	NOUN
alkej-356	207	1	قد	قد	INTJ
alkej-356	208	1	اظهر	اظهر	ADV
alkej-356	209	1	خواص	خواص	ADV
alkej-356	209	2	،	،	PROPN
alkej-356	209	3	قد	قد	PROPN
alkej-356	209	4	اعطى	اعطى	PROPN
alkej-356	209	5	نتائج	نتائج	PROPN
alkej-356	209	6	جيدة	جيدة	PROPN
alkej-356	209	7	العليا	العليا	NOUN
alkej-356	209	8	-	-	PUNCT
alkej-356	209	9	بالرغم	بالرغم	NOUN
alkej-356	209	10	من	من	ADP
alkej-356	209	11	ان	ان	ADV
alkej-356	209	12	المسيطرالمثالي	المسيطرالمثالي	NOUN
alkej-356	209	13	الذي	الذي	PROPN
alkej-356	209	14	يستند	يستند	VERB
alkej-356	209	15	على	على	NOUN
alkej-356	209	16	الطريقة	الطريقة	NOUN
alkej-356	209	17	الدنيا	الدنيا	PROPN
alkej-356	209	18	وجبة	وجبة	PROPN
alkej-356	209	19	طعام	طعام	PROPN
alkej-356	209	20	.	.	PUNCT
alkej-356	210	1	على	على	PROPN
alkej-356	210	2	شكل	شكل	PROPN
alkej-356	210	3	والتي	والتي	PROPN
alkej-356	210	4	تم	تم	PROPN
alkej-356	210	5	تمثيلها	تمثيلها	PROPN
alkej-356	210	6	المسلط	المسلط	PROPN
alkej-356	210	7	افضل	افضل	NOUN
alkej-356	210	8	من	من	INTJ
alkej-356	210	9	المسيطرات	المسيطرات	PROPN
alkej-356	210	10	المقترحة	المقترحة	PROPN
alkej-356	210	11	وذلك	وذلك	PROPN
alkej-356	211	1	من	من	PRON
alkej-356	212	1	ناحية	ناحية	PROPN
alkej-356	213	1	تقليله	تقليله	PROPN
alkej-356	213	2	تاثير	تاثير	VERB
alkej-356	213	3	االضراب	االضراب	NOUN